Powered assisted mobility of an operating table

Abstract

Certain aspects relate to systems and techniques for a mobile medical platform including a rigid base and one or more wheel assemblies coupled to a first side of the rigid base to support and move the rigid base in a physical environment. A respective wheel assembly of the one or more wheel assemblies includes a wheel, a first motor configured to steer the wheel, and a second motor configured to roll the wheel. The wheel is configured to rotate about a first axis and a second axis different from the first axis, respectively. The first motor is positioned about a respective one of the first axis and the second axis, and the first axis is aligned with the second axis resulting in a caster angle of the wheel being negligible. A method of operating the mobile medical platform is also disclosed.

Description

Technical Field

[0001] The systems and methods disclosed herein relate to power-assisted mechanisms, and more specifically to power-assisted mechanisms for transporting medical platforms. Background Technology

[0002] Healthcare platforms, such as operating tables or hospital beds, can be used to support patients during medical procedures. These platforms need to be moved frequently within the hospital to facilitate optimal hospital operations and logistics. Traditionally, such platforms have been moved manually.

[0003] However, medical platforms equipped with other devices are heavier than conventional beds, and transporting such medical platforms can be challenging. Summary of the Invention

[0004] There is a need for powered assist mechanisms for transporting medical platforms. This document discloses a powered assist mobile medical platform for surgical or medical robotic systems. Such medical platforms are easily transported to various medical environments, meeting numerous needs, such as use as operating tables or hospital beds. Furthermore, powered assist mobility allows for precise movement of the medical platform during transport or placement. For example, a powered assist mobile medical platform may be able to maneuver in tight corners, where a conventional hospital bed requiring manual operation might not be easily accessible. In another example, a powered assist mobile medical platform can be precisely positioned in a precise location, such as an optimal location within an operating room.

[0005] According to some embodiments, a mobile medical platform includes a rigid base and one or more wheel assemblies coupled to a first side of the rigid base to support and move the rigid base in a physical environment. Each wheel assembly includes a wheel, a first motor configured to steer the wheel, and a second motor configured to roll the wheel. The combination of the two motors for each wheel provides two degrees of freedom for each wheel (e.g., for propulsion and steering), which facilitates accurate positioning of the mobile medical platform and also enables power-assisted manipulation that is impossible with a conventional bed.

[0006] In some embodiments, the first motor is configured to turn the wheel about a first axis that is substantially perpendicular to a plane corresponding to the first side of the rigid base, and the second motor is configured to roll the wheel about a second axis that is substantially parallel to the plane corresponding to the first side of the rigid base.

[0007] In some implementations, the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0008] In some implementations, the wheel assembly also includes a first spring positioned to apply a downward force on the wheel.

[0009] In some embodiments, the wheel assembly also includes a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0010] In some embodiments, the wheel assembly includes a first spring and a second spring located below the first spring and above the wheel. The first spring has a larger spring constant than the second spring.

[0011] In some implementations, the mobile medical platform includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause at least one of the first motors or the second motors to move the wheel according to one or more inputs.

[0012] In some implementations, the mobile medical platform includes at least two wheel assemblies and stored instructions, which, when executed by the one or more processors, cause the one or more processors to trigger a corresponding first motor of one or more of the at least two wheel assemblies based on the determination that a preset automatic braking criterion is met, so that the corresponding wheel of the at least two wheel assemblies is turned to form a preset braking configuration.

[0013] In some implementations, the mobile medical platform includes at least four wheel assemblies, and the pre-designed braking configuration includes the rolling axes of adjacent wheels of the four wheel assemblies arranged at different angles.

[0014] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the at least two wheel assemblies to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met, and to trigger the at least two wheel assemblies to place the corresponding wheels of the at least two wheel assemblies in a preset braking configuration based on the determination that the first criterion is not met.

[0015] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion. For example, the first criterion may require pressing a safety switch during movement and operation of the mobile medical platform.

[0016] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to receive one or more control parameters corresponding to a user from one or more input devices in communication with the one or more processors, and to control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters.

[0017] In some embodiments, controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the first motor and the second motor of the respective wheel assembly to simultaneously cause the wheel of the respective wheel assembly to turn and roll.

[0018] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel components to achieve the requested movement of the rigid base.

[0019] In some implementations, the mobile medical platform includes a robotic surgical system coupled to the rigid base. The robotic surgical system includes a table supported by the rigid base and one or more robotic arms configured to move relative to the table.

[0020] According to some embodiments, a mobile medical platform includes a rigid base and one or more wheel assemblies coupled to a first side of the rigid base and supporting the rigid base. Each of the one or more wheel assemblies includes a wheel configured to rotate about a first axis and a second axis different from the first axis. A first motor is positioned to rotate the wheel about a corresponding one of the first and second axes. The alignment of the first and second axes results in a negligible caster angle for the wheel. This alignment of the first and second axes facilitates accurate positioning of the mobile medical platform by reducing or eliminating the sweep volume associated with the small casters. It also facilitates independent selection of the steering direction of each wheel, which simplifies the control mechanism and further improves positioning accuracy.

[0021] In some embodiments, the first motor is positioned to rotate the wheel about the first axis, and the respective wheel assembly in the one or more wheel assemblies further includes a second motor positioned to rotate the wheel about the second axis. The second axis is substantially parallel to a plane corresponding to the first side of the rigid base.

[0022] In some embodiments, the respective wheel assembly in the one or more wheel assemblies further includes a first spring positioned to apply a downward force on the wheel.

[0023] In some embodiments, the respective wheel assembly in the one or more wheel assemblies further includes a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0024] In some embodiments, the respective wheel assembly in the one or more wheel assemblies further includes a first spring and a second spring located below the first spring. The first spring has a larger spring constant than the second spring.

[0025] In some implementations, the mobile medical platform also includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause the first motor to move the wheel in response to one or more inputs.

[0026] In some embodiments, the one or more wheel assemblies include at least two wheel assemblies. When the stored instructions are executed by the one or more processors, the one or more processors trigger the corresponding first motor of one or more of the at least two wheel assemblies to rotate the corresponding wheels of the at least two wheel assemblies to form a preset braking configuration, based on the determination that a preset automatic braking criterion has been met.

[0027] In some embodiments, the one or more wheel assemblies include four wheel assemblies, and the preset braking configuration includes second axles of adjacent wheels of the four wheel assemblies arranged at different angles.

[0028] In some embodiments, the corresponding wheel assembly further includes a second motor. When executed by the one or more processors, the stored instructions cause the one or more processors to receive one or more control parameters corresponding to a user from one or more input devices in communication with the one or more processors, and to control the corresponding first motor and corresponding second motor of the one or more wheel assemblies to move the corresponding wheel of the one or more wheel assemblies according to the one or more control parameters.

[0029] In some embodiments, the one or more wheel assemblies include at least two wheel assemblies. The stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the at least two wheel assemblies to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met, and to trigger the at least two wheel assemblies to place the corresponding wheels of the at least two wheel assemblies in a preset braking configuration based on the determination that the first criterion is not met.

[0030] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0031] In some embodiments, the corresponding wheel assembly further includes a second motor. The stored instructions, when executed by the one or more processors, cause the one or more processors to control the first and second motors of the corresponding wheel assembly, so that the wheel of the corresponding wheel assembly rotates simultaneously about the first axis and the second axis.

[0032] In some implementations, the one or more wheel assemblies include at least two wheel assemblies. The stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of the two or more wheel assemblies to achieve the requested movement of the rigid base.

[0033] In some implementations, the mobile medical platform also includes a robotic surgical system coupled to the rigid base. The robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0034] According to some embodiments, a mobile medical platform includes a rigid base and one or more wheel assemblies coupled to a first side of the rigid base and supporting the rigid base during movement of the mobile medical platform. Each wheel assembly includes a wheel, a first motor positioned to rotate the wheel, a first spring positioned to apply a downward force to the wheel, and a second spring positioned to inhibit relative movement between the wheel and the rigid base. The combination of the two springs helps the respective wheel maintain contact with the ground while suppressing impacts or vibrations caused by uneven ground surfaces.

[0035] In some implementations, the second spring is located below the first spring and above the wheel, and the first spring has a larger spring constant than the second spring.

[0036] In some embodiments, the first motor is positioned to rotate the wheel about a first axis that is substantially perpendicular to a plane corresponding to the first side of the rigid base. The respective wheel assembly in the one or more wheel assemblies also includes a second motor positioned to roll the wheel about a second axis that is substantially parallel to the plane corresponding to the first side of the rigid base.

[0037] In some implementations, the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0038] In some implementations, the mobile medical platform includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause at least one of the first motors or the second motors to move the wheel according to one or more inputs.

[0039] In some embodiments, the one or more wheel assemblies include at least two wheel assemblies. When the stored instructions are executed by the one or more processors, the one or more processors trigger the corresponding first motor of one or more of the at least two wheel assemblies according to the determination that a preset automatic braking criterion is met, so that the corresponding wheel steering of the at least two wheel assemblies forms a preset braking configuration.

[0040] In some embodiments, the one or more wheel assemblies include four wheel assemblies, and the preset braking configuration includes second axles of adjacent wheels of the four wheel assemblies arranged at different angles.

[0041] In some embodiments, the one or more wheel assemblies include at least two wheel assemblies. The stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the at least two wheel assemblies to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met, and to trigger the at least two wheel assemblies to place the corresponding wheels of the at least two wheel assemblies in a preset braking configuration based on the determination that the first criterion is not met.

[0042] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0043] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to receive one or more control parameters corresponding to user input from one or more input devices in communication with the one or more processors, and control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters.

[0044] In some embodiments, controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the first motor and the second motor of the respective wheel assembly to simultaneously cause the wheel of the respective wheel assembly to turn and roll.

[0045] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel components to achieve the requested movement of the rigid base.

[0046] In some embodiments, the mobile patient platform includes a robotic surgical system coupled to the rigid base. The robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0047] According to some embodiments, a mobile medical platform includes a rigid base and at least four wheel assemblies coupled to and supporting the rigid base. Each of the at least four wheel assemblies includes a corresponding wheel and a corresponding first motor positioned to steer that corresponding wheel. The mobile medical platform also includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause the corresponding wheels of the at least four wheel assemblies to steer, such that the corresponding wheels of the at least four wheel assemblies are aligned in a common direction at a first moment, and that the corresponding wheels of the at least four wheel assemblies are arranged in a braking configuration at a second moment different from the first moment, such that the rigid base is fixed. This configuration allows for rapid and efficient braking of the mobile medical platform, which in turn improves the positioning accuracy and transportation safety of the mobile medical platform.

[0048] In some implementations, the respective wheels of the at least four wheel assemblies are guided to a common point when in the braking configuration.

[0049] In some implementations, the common point is the center of mass of the at least four wheel components.

[0050] In some embodiments, the respective first motor is positioned for steering the respective wheel about a first axis that is substantially perpendicular to the plane corresponding to the first side of the rigid base, and the respective wheel assembly of the at least four wheel assemblies further includes a respective second motor that is positioned for rolling the respective wheel about a second axis that is substantially parallel to the plane corresponding to the first side of the rigid base.

[0051] In some implementations, the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0052] In some implementations, the stored instructions, when executed by the one or more processors, cause at least one of the corresponding first motor or the corresponding second motor to move the corresponding wheel according to one or more inputs.

[0053] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to receive one or more control parameters from one or more input devices in communication with the one or more processors, and to control the corresponding first motor and the corresponding second motor of the one or more wheel assemblies to move the corresponding wheel according to the one or more control parameters.

[0054] In some embodiments, controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the respective first motor and the respective second motor of the respective wheel assembly to simultaneously cause the respective wheel of the respective wheel assembly to turn and roll.

[0055] In some embodiments, the respective wheel assembly of the at least four wheel assemblies further includes a respective first spring, which is positioned to apply a downward force on the respective wheel.

[0056] In some embodiments, each of the at least four wheel assemblies further includes a corresponding second spring positioned to inhibit relative movement between the corresponding wheel and the rigid base.

[0057] In some embodiments, each of the at least four wheel assemblies further includes a corresponding first spring and a corresponding second spring located below the corresponding first spring. The corresponding second spring is located above the corresponding wheel, and the spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

[0058] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motor of one or more of the at least four wheel assemblies according to the determination that a preset automatic braking criterion is met, so as to cause the corresponding wheel of the at least four wheel assemblies to turn to form a braking configuration.

[0059] In some embodiments, the braking configuration includes second axles of adjacent wheels of the four wheel assemblies arranged at different angles.

[0060] In some implementations, the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel components to achieve the requested movement of the rigid base.

[0061] In some implementations, if a first criterion is met, the corresponding wheels of the at least four wheel assemblies are aligned in a common direction, and if the first criterion is not met, the corresponding wheels of the at least four wheel assemblies are arranged in a braking configuration.

[0062] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0063] In some embodiments, a robotic surgical system is coupled to the rigid base. The robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0064] According to some implementations, a method performed at a mobile healthcare platform includes: receiving user input that moves the mobile healthcare platform; moving one or more wheel assemblies coupled to the rigid base, including activating a first motor to orient the wheels in a direction corresponding to the user input, and activating a second motor to make the wheels roll.

[0065] In some implementations, the second motor is activated after the wheel has been oriented, and the wheel is rolled by the second motor while the wheel's orientation remains in the corresponding direction.

[0066] In some implementations, the first motor and the second motor start simultaneously.

[0067] In some embodiments, activating the first motor to orient the wheel in the corresponding direction includes turning the wheel about a first axis by means of the first motor, the first axis being substantially perpendicular to the plane corresponding to the first side of the rigid base, and activating the second motor to roll the wheel includes applying a lifting force to the wheel by means of the second motor to roll the gallon about a second axis, the second axis being substantially parallel to the plane corresponding to the first side of the rigid base.

[0068] In some implementations, the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0069] In some implementations, the wheel assembly also includes a first spring positioned to apply a downward force on the wheel.

[0070] In some embodiments, the wheel assembly also includes a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0071] In some embodiments, the wheel assembly further includes a first spring and a second spring, the second spring being located above the wheel and below the first spring, and the spring constant of the first spring being greater than the spring constant of the second spring.

[0072] In some embodiments, the one or more wheel assemblies include at least two wheel assemblies. The method further includes: triggering at least two of the one or more wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met, and triggering a respective first motor of one or more of the at least two wheel assemblies to steer the respective wheels of the at least two wheel assemblies to form a preset braking configuration based on the determination that the first criterion is not met.

[0073] In some embodiments, the one or more wheel assemblies include four wheel assemblies. Triggering a corresponding first motor of one or more of the at least two wheel assemblies to cause the corresponding wheel of the at least two wheel assemblies to steer to form a preset braking configuration includes: rotating the corresponding wheel about a second axis of an adjacent wheel of the four wheel assemblies via the corresponding first motor, such that the second axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

[0074] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0075] In some implementations, the user input is received from one or more input devices that move the mobile healthcare platform.

[0076] In some implementations, the operation of two or more wheel assemblies is coordinated to achieve a requested movement of the rigid base, the requested movement of the rigid base corresponding to the user input.

[0077] In some embodiments, the mobile medical platform also includes a robotic surgical system coupled to the rigid base. The robotic surgical system includes a table and one or more robotic arms, and the method further includes moving the one or more robotic arms relative to the table.

[0078] According to some embodiments, a method includes utilizing a mobile medical platform. The mobile medical platform includes at least two wheel assemblies for utilizing the platform, wherein the mobile medical platform includes at least two wheel assemblies for receiving input from one or more input devices to move the platform, and generating one or more control commands for controlling respective first and second motors of the at least two wheel assemblies. Generating the one or more control commands includes: triggering the at least two wheel assemblies to align respective wheels of the at least two wheel assemblies in a common direction based on determining that the input meets a first criterion; and triggering the at least two wheel assemblies to place the respective wheels of the at least two wheel assemblies in a preset braking configuration based on determining that the input meets a second criterion different from the first criterion.

[0079] In some embodiments, triggering the at least two wheel assemblies to align the corresponding wheels of the at least two wheel assemblies in a common direction based on determining that the input meets a first criterion further includes: activating the corresponding first motor to align the corresponding wheels of the at least two wheel assemblies in the common direction, and activating the corresponding second motor to rotate the corresponding wheel. The first motor and the second motor are activated simultaneously.

[0080] In some implementations, triggering the at least two wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on determining that the input meets a first criterion includes: activating the respective first motor to align the respective wheels of the at least two wheel assemblies in a common direction, and activating the respective second motor to make the respective wheel roll after the respective wheel is held in the respective direction and while the orientation of the respective wheel is held in the respective direction.

[0081] In some embodiments, activating the corresponding first motor to align the corresponding wheels of the at least two wheel assemblies in a common direction includes: turning the corresponding wheel about a corresponding first axis via the corresponding first motor, the corresponding first axis being substantially perpendicular to a plane corresponding to the first side of the rigid base. Activating the corresponding second motor to roll the corresponding wheel includes providing power to the wheel via the corresponding second motor to roll about a corresponding second axis, the corresponding second axis being substantially parallel to a plane corresponding to the first side of the rigid base.

[0082] In some implementations, the respective first axis and the respective second axis of the corresponding wheels of the at least two wheel assemblies are aligned to substantially eliminate the caster angle of the respective first axis.

[0083] In some embodiments, the one or more wheel assemblies include at least four wheel assemblies. Triggering the at least four wheel assemblies to place the respective wheels of the at least four wheel assemblies into the preset braking configuration includes: rotating the respective wheel about a first axis of an adjacent wheel of the four wheel assemblies via the respective first motor, such that the second axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

[0084] In some embodiments, a respective wheel assembly of the two or more wheel assemblies further includes a respective first spring, which is positioned to apply a downward force on the respective wheel.

[0085] In some embodiments, a respective wheel assembly of the two or more wheel assemblies further includes a respective second spring, which is positioned to inhibit relative movement between the respective wheel and the rigid base.

[0086] In some embodiments, each of the two or more wheel assemblies further includes a corresponding first spring and a corresponding second spring. The corresponding second spring is located above the corresponding wheel and below the corresponding first spring, and the spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

[0087] In some embodiments, the method further includes coordinating the operation of the at least two wheel assemblies to achieve the requested movement of the rigid base. The requested movement of the rigid base corresponds to the input.

[0088] In some embodiments, the mobile medical platform also includes a robotic surgical system coupled to the rigid base. The robotic surgical system includes a table and one or more robotic arms, and the method further includes moving the one or more robotic arms relative to the table. Attached Figure Description

[0089] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided to illustrate and not limit the disclosed aspects, wherein similar reference numerals denote similar elements.

[0090] Figure 1 An implementation scheme of a cart-based robotic system deployed for the diagnosis and / or treatment of bronchoscopy procedures is shown.

[0091] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0092] Figure 3 The setup for ureteroscopy is shown. Figure 1 The implementation plan for the robot system.

[0093] Figure 4 The diagram shows the arrangement used for vascular procedures. Figure 1 The implementation plan for the robot system.

[0094] Figure 5 An implementation scheme of a table-based robotic system deployed for bronchoscopy procedures is shown.

[0095] Figure 6 Provided Figure 5 An alternative view of the robot system.

[0096] Figure 7 An exemplary system configured to retract a robotic arm is shown.

[0097] Figure 8 An implementation scheme of a table-based robotic system constructed for ureteroscopy procedures is shown.

[0098] Figure 9 An implementation scheme of a table-based robotic system constructed for laparoscopic procedures is shown.

[0099] Figure 10 It shows Figures 5 to 9 An implementation scheme for a platform-based robot system with pitch or tilt adjustment.

[0100] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column of the platform-based robotic system.

[0101] Figure 12 An alternative implementation of a stage-based robotic system is shown.

[0102] Figure 13 It shows Figure 12 An end view of a platform-based robotic system.

[0103] Figure 14 An end view of a platform-based robotic system with a robotic arm attached is shown.

[0104] Figure 15 An exemplary device driver is shown.

[0105] Figure 16 An exemplary medical device with paired instrument drivers is shown.

[0106] Figure 17 An alternative design of the instrument actuator and the instrument is shown, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0107] Figure 18 An instrument with an instrument-based insertion architecture is shown.

[0108] Figure 19 An example controller is shown.

[0109] Figure 20 A block diagram illustrating a positioning system according to an exemplary embodiment is depicted, the positioning system estimating Figures 1 to 10 The location of one or more components of a robotic system, such as Figures 16 to 18 The location of the instruments.

[0110] Figure 21 An implementation of a mobile healthcare platform comprising one or more wheel components is shown according to some embodiments.

[0111] Figure 22A The following are illustrated according to some implementation schemes. Figure 21 The bottom view of the mobile healthcare platform.

[0112] Figure 22B A bottom view of a mobile healthcare platform according to some implementation schemes is shown.

[0113] Figure 23A The following are illustrated according to some implementation schemes. Figure 21 A perspective view of the wheel components of a mobile healthcare platform.

[0114] Figure 23B The following are illustrated according to some implementation schemes. Figure 23A A cross-sectional view of the wheel assembly.

[0115] Figure 23C The following are illustrated according to some implementation schemes. Figure 23A and Figure 23B Side view of the wheel assembly.

[0116] Figure 24A The following are illustrated according to some implementation schemes. Figure 21 An example of the shift path for mobile healthcare platforms.

[0117] Figures 24B to 24D Pivots are shown according to some implementation schemes. Figure 21 An example of a mobile healthcare platform.

[0118] Figure 24E The following are illustrated according to some implementation schemes. Figure 21 An example of precise mobility for mobile healthcare platforms.

[0119] Figure 25A The following are examples of control methods according to some implementation schemes. Figure 21 Implementation plan for mobile input devices in mobile medical platforms.

[0120] Figure 25B The following are illustrated according to some implementation schemes. Figure 22B The pre-designed braking structure of the mobile medical platform.

[0121] Figure 25C The following are illustrated according to some implementation schemes. Figure 22A The pre-designed braking structure of the mobile medical platform.

[0122] Figures 26A to 26D A flowchart illustrating a method performed by a mobile healthcare platform according to some implementation schemes is shown.

[0123] Figure 27 This is a flowchart illustrating another method performed by a mobile healthcare platform according to some implementation schemes.

[0124] Figure 28 This is a schematic diagram illustrating electronic components of a mobile medical platform according to some implementation schemes. Detailed Implementation

[0125] 1. Overview

[0126] The aspects of this disclosure can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. In endoscopic procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0127] In addition to performing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system allows physicians to perform procedures from an ergonomic orientation, eliminating the need for cumbersome arm movements and positioning. Additionally, the system provides physicians with improved ease of use, enabling one or more instruments within the system to be controlled by a single user.

[0128] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other specific embodiments of the disclosed concepts are possible, and various advantages can be achieved using the disclosed specific embodiments. Titles are included herein for reference and to aid in locating the various sections. These titled sections are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout the specification.

[0129] A. Robotic System – Trolley

[0130] Robot-enabled medical systems can be constructed in a variety of ways, depending on specific procedures. Figure 1 An embodiment of a cart-based robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures is illustrated. During bronchoscopy, system 10 may include a cart 11 having one or more robotic arms 12 to deliver medical instruments, such as a manipulable endoscope 13 (which may be a procedure-specific bronchoscope for bronchoscopy), to a natural orifice entry point (i.e., the patient's mouth positioned on the table in this example), to deliver diagnostic and / or therapeutic tools. As shown, cart 11 may be positioned near the patient's upper torso to provide access to the entry point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. When performing GI procedures using a gastroscopy (a dedicated endoscope for gastrointestinal (GI) procedures), the same approach may be used. Figure 1 The layout within. Figure 2 An exemplary implementation of the cart is described in more detail.

[0131] Continue to refer to Figure 1Once the trolley 11 is correctly positioned, the robotic arm 12 can robotically, manually, or in combination thereof insert the maneuverable endoscope 13 into the patient. As shown, the maneuverable endoscope 13 may include at least two telescopic portions, such as an inner guide portion and an outer sheath portion, each portion being coupled to a separate instrument actuator from a set of instrument actuators 28, each instrument actuator being coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, which facilitates coaxial alignment of the guide portion and the sheath portion, creates a “virtual track” 29, which can be repositioned in space by maneuvering one or more robotic arms 12 to different angles and / or positions. The virtual track described herein is depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual track 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual track 29 shown in the figure represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0132] After insertion, endoscope 13 can be guided downwards through the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to achieve enhanced joint movement and a larger radius of flexion. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0133] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed downwards along the working channel, which extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological findings, additional tools can be deployed downwards along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can be used to deliver endoscopic tools to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be delivered in a separate procedure. In these cases, endoscope 13 can also be used to deliver a reference point to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0134] System 10 may also include a movable tower 30, which can be connected to the trolley 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical support to the trolley 11. Placing such functionality in the tower 30 allows for a smaller form factor trolley 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, the division between the trolley / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the trolley 11 can be positioned close to the patient, the tower 30 can be retracted in a remote location to avoid obstructing the path during procedures.

[0135] To support the aforementioned robotic system, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnet memory drive, a solid-state drive, etc. Whether execution occurs within tower 30 or cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate relevant brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, a motor in the joint of the robotic arm can position the arm into a specific posture.

[0136] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid passages to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0137] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the need to place power transformers and other auxiliary power components in trolley 11, resulting in a smaller and more mobile trolley 11.

[0138] Tower 30 may also include support devices for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic devices for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with a control system, such optoelectronic devices can be used to generate real-time images for display in any number of consoles deployed throughout the system (including displays within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on a medical device.

[0139] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart), tower 30 may also include console 31. Console 31 may include a user interface and display, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide both robot control and preoperative and real-time information for procedures, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator (such as a nurse) to monitor the patient's health or vital signs and system operation, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, console 31 is housed in a separate body from tower 30.

[0140] Tower 30 can be connected to cart 11 and endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functions from tower 30 can be provided to cart 11 via a single cable, thereby simplifying the operating room and eliminating clutter. In other embodiments, specific functions can be coupled in separate wiring and connections. For example, while power to the cart can be provided via a single cable, support for control, optics, fluid, and / or navigation can also be provided via separate cables.

[0141] Figure 2 Provided from Figure 1 The illustration shows a detailed implementation of a cart-based robot-enabled system. The cart 11 typically includes an elongated support structure 14 (often referred to as a "post"), a cart base 15, and a console 16 at the top of the post 14. The post 14 may include one or more brackets, such as those for supporting one or more robotic arms 12. Figure 2 The bracket 17 (or alternatively, "arm support") is deployed in three configurations. The bracket 17 may include a separately configurable arm mount that rotates along a vertical axis to adjust the base of the robotic arm 12 for better positioning relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the post 14.

[0142] The bracket interface 19 is connected to the post 14 via a slot, such as slot 20, which is positioned on the opposite side of the post 14 to guide the vertical translation of the bracket 17. Slot 20 includes a vertical translation interface to position and hold the bracket relative to the trolley base 15 at various vertical heights. The vertical translation of the bracket 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, separately configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0143] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of column 14 and the vertical translation interface during vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels positioned near the vertical top and bottom of slot 20. The cover is coiled within the reels until it is deployed to extend and retract from its coiled state during vertical up-and-down translation of bracket 17. The spring load of the reels provides the force to retract the cover into the reels as bracket 17 translates toward the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during translation of bracket 17.

[0144] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 using vertically aligned lead screws in response to control signals generated in response to user input (e.g., input from the console 16).

[0145] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm in the arm 12 has seven joints and thus provides seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thus allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its corresponding end effector 22 in a specific orientation, orientation, and trajectory in space using different link orientations and joint angles. This allows the system to locate and guide medical devices from desired points in space, while allowing physicians to move the arm joints to a clinically advantageous orientation away from the patient to generate greater proximity while avoiding arm collisions.

[0146] The trolley base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Therefore, the trolley base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the trolley to move and / or be secured. For example, the trolley base 15 includes one or more wheel assemblies that allow the trolley to be easily moved around the room before the procedure. Once in place, the wheels of these one or more wheel assemblies can be secured using wheel locks or can be arranged with a preset braking mechanism that holds the trolley 11 secure during the procedure.

[0147] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as, for example, touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include preoperative planning, navigation, and mapping data derived from preoperative computed tomography (CT) scans and / or records from preoperative patient interviews. Intraoperative data on the display screen may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this orientation, the physician can operate the console 16 from behind cart 11 while simultaneously observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes a handle 27 for assisting in manipulating and stabilizing cart 11.

[0148] Figure 3 An embodiment of a robot-enabled system 10 arranged for ureteroscopy is shown. In a ureteroscopy procedure, a trolley 11 is positioned to deliver a ureteroscope 32 (a procedure-specific endoscope designed to traverse the patient's urethra and ureter) to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and force on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access into the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra from the foot of the table along a virtual track 33.

[0149] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed downwards along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed downwards along the ureteroscope 32.

[0150] Figure 4A similar implementation of a robot-enabled system for vascular procedures is shown. In vascular procedures, system 10 can be configured such that a cart 11 delivers a medical device 34 (such as a manipulable catheter) to an entry point in the femoral artery in the patient's leg. The femoral artery presents both a relatively large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in ureteroscopy procedures, the cart 11 can be positioned toward the patient's leg and lower abdomen to allow the robotic arm 12 to provide a virtual track 35 for direct linear access to the femoral artery entry point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted via a translational device actuator 28. Alternatively, the cart can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near the shoulder and wrist.

[0151] B. Robot System – Unit

[0152] Implementation plans for robot-enabled medical systems can also incorporate patient-integrated tables. Integrating tables reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5 An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a “table” or “bed”) on a floor. Much like a trolley-based system, the end effector of the robotic arm 39 of system 36 includes an instrument actuator 42, which is designed to manipulate elongated medical instruments, such as… Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluorescence imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0153] Figure 6An alternative view of system 36 without a patient and medical devices is provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, upon which one or more robotic arms 39 may be based. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors positioned within column 37 to allow the robotic arms 39 to access multiple sides of table 38, such as both sides of the patient. In embodiments with multiple brackets, the brackets may be individually positioned on the column and may translate and / or rotate independently of other brackets. While the brackets 43 need not be circular or even encircling column 37, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow the system to align medical devices such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient examination table or bed with an adjustable arm support, which takes the form of a rod or rail extending beside the patient examination table or bed. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) may be attached to the adjustable arm support, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 can advantageously be compactly stored under the patient examination table or bed and subsequently raised during procedures.

[0154] Arm 39 can be mounted on a bracket via a set of arm mounts 45 comprising a series of joints that can be individually rotated and / or telescopically extended to provide additional constructability to the robotic arm 39. Additionally, the arm mounts 45 can be positioned on the bracket 43 such that, when the bracket 43 is properly rotated, the arm mounts 45 are positioned on the same side of the platform 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0155] Column 37 structurally supports platform 38 and provides a path for the vertical translation of the bracket. Internally, column 37 may be equipped with a lead screw for guiding the vertical translation of the bracket, and a motor for mechanizing the translation of the bracket based on the lead screw. Column 37 may also transmit power and control signals to bracket 43 and robotic arm 39 mounted thereon.

[0156] Platform base 46 has with Figure 2The trolley base 15 in the illustrated trolley 11 functions similarly, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during operation. Casters deployed from the bottom of the table base 46 extend in opposite directions on either side of the base 46 and retract when the system 36 requires movement.

[0157] continue Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in previously disclosed embodiments, the tower may provide the table with various support functions such as processing, computing and control capabilities, electrical, fluid and / or optical, and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician access and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the base of the table for potential retraction of the robotic arm. The tower may also include a main controller or console that provides a user interface such as a keyboard and / or the tower for user input, and a display screen (or touchscreen) for preoperative and intraoperative information such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for gas cylinders to be used for inflatation.

[0158] In some implementations, the base can be retracted and stored when not in use. Figure 7 A system 47 for retracting a robotic arm is illustrated in an embodiment of a platform-based system. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and arm 50 around a post 53, and to close to retract the bracket, arm mount, and arm for protection when not in use. The base cover 52 can be sealed along the edge of its opening using a membrane 54 to prevent dust and fluid from entering when closed.

[0159] Figure 8An embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure is illustrated. During ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the lower portion of the rotating portion 55 away from column 37. For example, pivoting of the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket (not shown) about column 37, robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual track 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of table 38 to support the orientation of the patient's legs during the procedure and allow full access to the patient's groin region.

[0160] In laparoscopic procedures, minimally invasive instruments are inserted into the patient's anatomical structures through one or more small incisions in the abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid components, such as axes, for accessing the anatomical structures within the patient. After the patient's abdominal cavity is inflated, the instruments can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may include endoscopes, such as laparoscopes. Figure 9 An implementation of a table-based, robot-enabled system configured for laparoscopic procedures is shown. Figure 9 As shown, the bracket 43 of system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of table 38, so that the instrument 59 can be positioned through the smallest incision on both sides of the patient to reach his / her abdominal cavity using arm mount 45.

[0161] To accommodate laparoscopic procedures, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation scheme for a robot-enabled medical system with pitch or tilt adjustment is shown. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38 to position one part of the platform at a greater distance from the base plate than the other part. Additionally, arm mount 45 is rotatable to match the tilt, ensuring that arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the floor or colliding with base 46.

[0162] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom. The pitch-rotation mechanism 61 can be implemented by positioning orthogonal axes 1, 2 at the column interface, each axis being actuated by separate motors 3, 4 in response to electrical pitch angle commands. Rotation along one screw 5 enables tilt adjustment along axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2. In some embodiments, ball joints may be used to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom.

[0163] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendrenburg position (i.e., positioning the patient's lower abdomen higher than the floor) for lower abdominal surgery. The head-down, feet-up position causes the patient's internal organs to slide down to his / her upper abdomen by gravity, clearing the abdominal cavity to allow minimally invasive instruments to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0164] Figure 12 and Figure 13 Isometric and end views of an alternative embodiment of a stage-based surgical robot system 100 are shown. The surgical robot system 100 includes one or more robotic arms (see, for example) that can be configured to support a stage 101 relative to it. Figure 14 One or more adjustable arm supports 105 are provided. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be positioned on opposite sides of the platform 101. The adjustable arm support 105 may be configured such that it is movable relative to the platform 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached to it relative to the platform 101. For example, the adjustable arm support 105 may be adjusted with one or more degrees of freedom relative to the platform 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily retract the one or more adjustable arm supports 105 and any robotic arms attached thereto under the platform 101. The adjustable arm support 105 may be raised from the retracted position to a position below the upper surface of the platform 101. In other embodiments, the adjustable arm support 105 may be raised from the retracted position to a position above the upper surface of the platform 101.

[0165] The adjustable arm support 105 provides several degrees of freedom, including lifting, lateral translation, and tilting. Figure 12 and Figure 13 In the exemplary embodiment, the arm support 105 is configured to have four degrees of freedom, which are in Figure 12The arrows indicate the first degree of freedom, which allows adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 may include a bracket 109 configured to move up or down along or relative to the column 102 of the support platform 101. The second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a rotary joint that allows the adjustable arm support 105 to be aligned with the bed in a head-down, feet-up position. The third degree of freedom allows the adjustable arm support 105 to “pivot upwards”, which can be used to adjust the distance between one side of the platform 101 and the adjustable arm support 105. The fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the platform.

[0166] Figure 12 and Figure 13 The surgical robot system 100 may include a platform supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the platform 101 relative to a support surface. A floor axis 131 and a support axis 133 are... Figure 13 As shown in the image.

[0167] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the platform 101 or the base 103. The adjustable arm support 105 may include a bracket 109, a rod or rail connector 111, and a rod or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to each other.

[0168] The bracket 109 can be attached to the post 102 via a first connector 113, which allows the bracket 109 to move relative to the post 102 (e.g., such as up and down movement along a first axis or vertical axis 123). The first connector 113 can provide a first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 may include a second connector 115, which provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third connector 117, which provides a third degree of freedom (“upward pivot”) to the adjustable arm support 105. An additional connector 119 may be provided (in... Figure 13 (As shown in the diagram), the additional joint mechanically constrains the third joint 117 to maintain the orientation of the guide rail 107 as the guide rail connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along the fourth axis 129.

[0169] Figure 14An end view of a surgical robot system 140A according to one embodiment, having two adjustable arm supports 105A, 105B mounted on opposite sides of a stage 101, is shown. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0170] In some embodiments, one or more of the robotic arms 142A and 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A and 142B may include eight degrees of freedom, including an insertion axis (including one degree of freedom for insertion), a wrist (including three degrees of freedom for wrist pitch, yaw, and roll), an elbow (including one degree of freedom for elbow pitch), a shoulder (including two degrees of freedom for shoulder pitch and yaw), and a base 144A and 144B (including one degree of freedom for translation). In some embodiments, the insertion degree of freedom may be provided by the robotic arms 142A and 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0171] C. Instrument drivers and interfaces

[0172] The end effector of the system's robotic arm includes (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") incorporating electromechanical devices for actuating the medical device, and (ii) a removable or detachable medical device that may not contain any electromechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical devices used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, the medical device can be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not need to be altered or sterilized and can be covered for protection.

[0173] Figure 15An exemplary instrument actuator is illustrated. The instrument actuator 62, positioned at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to the axis to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., ...) to the medical device. Figure 15 Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0174] For procedures requiring a sterile environment, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile cover, positioned between the instrument actuator and the medical device. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the device, while maintaining physical separation between the drive shaft and the drive input, and thus maintaining sterility. Therefore, an exemplary sterile adapter may include a series of rotary inputs and rotary outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the device. The sterile cover, composed of a thin, flexible material (such as transparent or translucent plastic), is connected to the sterile adapter and designed to cover the capital device, such as an instrument actuator, robotic arm, and trolley (in trolley-based systems) or table (in table-based systems). The use of the cover allows the capital device to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile cover, the medical device can dock with the patient in an area that requires sterilization (i.e., a sterile area).

[0175] D. Medical devices

[0176] Figure 16An exemplary medical device with paired instrument actuators is shown. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as the “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73 (e.g., a socket, pulley, or reel) designed to mate with a drive output 74 on a drive interface extending through the distal end of the robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 may share a rotational axis with the drive output 74 in the instrument driver 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include a spline designed to mate with a socket on the drive input 73.

[0177] The elongated shaft 71 is designed to be delivered through an anatomical opening or cavity (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from a connector wrist formed by a connecting fork having at least one degree of freedom and a surgical tool or medical instrument (such as, for example, a gripper or scissors), which can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending segment that articulates and bends based on torque received from the drive output 74 of the instrument actuator 75.

[0178] Torque from the instrument actuator 75 is transmitted downwards along shaft 71 to the elongated shaft 71 via tendons. These individual tendons (e.g., traction cables) may be individually anchored to individual drive inputs 73 within the instrument handle 72. From the handle 72, tendons are guided downwards along one or more traction chambers of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or at the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopy, or hybrid procedures, these tendons may be coupled to distally mounted end effectors, such as wrists, grippers, or scissors. In such an arrangement, torque applied to the drive input 73 transmits tension to the tendons, thereby actuating the end effector in a certain way. In some embodiments, during surgical procedures, the tendons may cause the connector to rotate about the axis, thereby causing the end effector to move in one direction or the other. Alternatively, tendons may be coupled to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein tension from the tendons causes the gripper to close.

[0179] During endoscopy, tendons can be attached via adhesives, control rings, or other mechanical fasteners to flexural or articulated segments positioned along an elongated axis 71 (e.g., at the distal end). When fixedly attached to the distal end of a flexural segment, torque applied to a drive input 73 is transmitted down the tendon, causing the softer flexural segment (sometimes referred to as an articulated segment or region) to flex or articulate. Along non-flexural segments, it can be advantageous to helve or coil individual traction cavities that guide individual tendons along the wall (or inside) of the endoscope axis to balance radial forces caused by tension in the traction lines. For specific purposes, the angle of the helices and / or the spacing between them can be varied or designed, with tighter helices exhibiting less axial compression under load, while lower helical amounts cause greater axial compression under load but also exhibit restricted flexion. Alternatively, traction cavities can be guided parallel to the longitudinal axis of the elongated axis 71 to allow controlled articulation within the desired flexural or articulated segment.

[0180] In endoscopic procedures, the elongated shaft 71 houses multiple components to assist in robotic procedures. The shaft may include a working channel for deploying surgical instruments (or medical devices), irrigation components, and / or suction components to an operating area at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to transmit signals to / from optical components at the distal end, which may include an optical camera. The shaft 71 may also house optical fibers to carry light from a proximal light source (such as a light-emitting diode) to the distal end of the shaft.

[0181] At the distal end of the instrument 70, the distal end may also include an opening for delivering tools for diagnostic and / or treatment, irrigation, and aspiration to the surgical site. The distal end may also include a port for a camera (such as a fiberoptic endoscope or digital camera) to capture images of the internal anatomical space. Relatedly, the distal end may also include a port for a light source used to illuminate the anatomical space when the camera is used.

[0182] exist Figure 16 In the example, the drive shaft axis, and therefore the drive input axis, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the rolling capability of the elongated shaft 71. Rolling the elongated shaft along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon as it extends from the drive input 73 and enters the traction cavity within the elongated shaft 71. Such tangling of the tendon can disrupt any control algorithm designed to predict the movement of the flexible elongated shaft during endoscopic procedures.

[0183] Figure 17 An alternative design of the instrument actuator and instrument is shown, wherein the axis of the drive unit is parallel to the axis of the slender axis of the instrument. As shown, the circular instrument actuator 80 includes four drive units whose drive outputs 81 are aligned parallel to each other at the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, driven by one of the drive units within assembly 83. In response to torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, which can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may be responsive to a separate drive unit integrated into the non-rotating portion 84 and therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to allow the drive units and their respective drive outputs 81 to rotate as a single unit about the instrument actuator axis 85.

[0184] Similar to previously disclosed embodiments, the device 86 may include an elongated shaft portion 88 and a device base 87 (shown as having a transparent outer surface for discussion purposes), the device base including a plurality of drive inputs 89 (such as sockets, pulleys, and reels) configured to receive drive outputs 81 in the device driver 80. Unlike previously disclosed embodiments, the device shaft 88 extends from the center of the device base 87, and the axis of the device base is substantially parallel to the axes of the drive inputs 89, rather than... Figure 16 It is orthogonal as in the design.

[0185] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates in combination with the rotating assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, when the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output 81, the drive input 89, and the instrument shaft 88 allows the shaft to rotate without causing any control tendons to become entangled.

[0186] Figure 18 An instrument with an instrument-based insertion architecture according to some embodiments is shown. Instrument 150 is connectable to any of the instrument drivers described above. Instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a shank 170 connected to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through the grooves. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also pass through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) actuates the end effector 162.

[0187] The instrument handle 170 (also referred to as the instrument base) typically includes an attachment interface 172 having one or more mechanical inputs 174, such as jacks, pulleys, or spools, which are designed to reciprocately engage with one or more torque couplers on the attachment surface of the instrument actuator.

[0188] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing reliance on a robotic arm to provide the insertion of the instrument 150. In other embodiments, the robotic arm may be largely responsible for the instrument insertion.

[0189] E. Controller

[0190] Any of the robotic systems described herein may include an input device or controller for manipulating a device attached to a robotic arm. In some embodiments, the controller may be coupled to the device (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller, for example via master-slave control, causes corresponding manipulation of the device.

[0191] Figure 19 This is a perspective view of an embodiment of controller 182. In this embodiment, controller 182 includes a hybrid controller that may have both impedance and admittance control. In other embodiments, controller 182 may utilize only impedance or passive control. In other embodiments, controller 182 may utilize only admittance control. By being a hybrid controller, controller 182 advantageously has lower perceived inertia during use.

[0192] In the illustrated embodiment, controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each handle 184 is connected to a universal joint 186. Each universal joint 186 is connected to a positioning platform 188.

[0193] like Figure 19 As shown, each positioning platform 188 includes a SCARA arm (selective compliant assembly robot arm) 198 connected to a post 194 via a prism joint 196. The prism joint 196 is configured to translate along the post 194 (e.g., along track 197) to allow each handle 184 to translate in the z-direction, thus providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the xy-plane, thus providing two additional degrees of freedom.

[0194] In some embodiments, one or more load sensors are located within the controller. For example, in some embodiments, load sensors (not shown) are located within the body of each gimbal in gimbal 186. By providing load sensors, portions of controller 182 are capable of operating under admittance control, thereby advantageously reducing the sense inertia of the controller during use. In some embodiments, positioning platform 188 is configured for admittance control, while gimbal 186 is configured for impedance control. In other embodiments, gimbal 186 is configured for admittance control, while positioning platform 188 is configured for impedance control. Thus, for some embodiments, the translational or positional degrees of freedom of positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of gimbal 186 may depend on impedance control.

[0195] F. Navigation and Control

[0196] Traditional endoscopy can involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system envisioned in this disclosure can provide radiation-free navigation and positioning, reducing physician exposure to radiation and the amount of equipment required in the operating room. As used herein, the term "positioning" can refer to determining and / or monitoring the orientation of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0197] Figure 20 This is a block diagram illustrating a positioning system 90 for estimating the position of one or more components of a robotic system (such as the position of a machine) according to an exemplary embodiment. The positioning system 90 may be one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or multiple processors) and computer-readable storage among the components discussed above. By way of example and not limitation, the computer device may be located in... Figure 1 Tower 30 shown Figures 1 to 4 The cart shown Figures 5 to 14 The bed, etc. shown.

[0198] like Figure 20 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 for the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be relative to a patient's anatomy or a known object (such as an EM field generator) (see the discussion of EM field generators below).

[0199] The various input data are now described in more detail 91-94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images, which are visualized, for example, as “slices” of cross-sectional views of the patient’s internal anatomy. When analyzed in whole, image-based models of the anatomical cavities, spaces, and structures of the patient’s anatomical structures, such as the patient’s lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient’s anatomy, which is referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application 14 / 523,760, the contents of which are incorporated herein by reference in their entirety. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0200] In some implementations, the device may be equipped with a camera to provide visual data 92. The positioning module 95 can process the visual data to enable one or more vision-based position tracking methods. For example, preoperative model data can be used in conjunction with visual data 92 to enable computer vision-based tracking of a medical device (e.g., an endoscope or an instrument propelled through the working channel of an endoscope). For example, using preoperative model data 91, the robotic system can generate a library of expected endoscope images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope's movement. In operation, the robotic system can refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with those images in the image library to aid in positioning.

[0201] Other computer vision-based tracking techniques use feature tracking to determine camera motion, and thus, endoscope motion. Some features of the localization module 95 can identify circular geometries corresponding to anatomical cavities in the preoperative model data 91 and track changes in those geometries to determine which anatomical cavity has been selected, as well as track the relative rotation and / or translational motion of the camera. The use of a topology map can further enhance vision-based algorithms or techniques.

[0202] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence within visual data 92 to infer camera motion. Examples of optical flow techniques can include motion detection, object segmentation computation, brightness, motion compensation coding, stereo parallax measurement, and more. Through multiple iterations and comparisons of multiple frames, the motion and position of the camera (and therefore the endoscope) can be determined.

[0203] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker), including one or more sensor coils embedded in one or more locations and orientations within the medical instrument (e.g., an endoscopic tool), measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align a single location in the coordinate system with its orientation in the preoperative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more orientations of the medical device (e.g., the distal end of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0204] Robot commands and kinematic data 94 can also be used by the positioning module 95 to provide orientation data 96 for the robotic system. Device pitch and yaw, derived from joint movement commands, can be determined during preoperative calibration. During surgery, these calibration measurements can be combined with known insertion depth information to estimate the instrument's orientation. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topology modeling to estimate the medical device's orientation within the network.

[0205] Figure 20 As shown, the positioning module 95 can use multiple other input data. For example, although Figure 20 Not shown, but the device using shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0206] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic method, where the localization module 95 assigns confidence weights to the location determined based on each of the input data 91-94. Therefore, in cases where the EM data may be unreliable (e.g., in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0207] As described above, the robotic system discussed herein can be designed as a combination of one or more of the technologies mentioned above. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.). When executed, these computer program instructions cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the instrument's orientation in a global coordinate system and anatomical diagrams.

[0208] 2. Wheel components of a power-assisted mobile medical platform

[0209] As illustrated in several examples above, a robotic medical system may include a medical platform comprising a bed or tabletop. The platform may be configured to support the patient during medical procedures such as robotic endoscopy, robotic laparoscopy, open procedures, or other procedures (see, for example, above). Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 8 and Figure 9 In some cases, medical platforms may need to be moved, and powered mobility using electric wheels can provide convenient maneuverability and precise movement. Due to the weight of the bed, especially one with one or more robotic arms attached to it, propulsion and manipulation can be challenging.

[0210] This document discloses a mobile medical platform that utilizes one or more wheel assemblies (also referred to herein as powered wheel assemblies or motorized wheel assemblies) to provide powered-assisted mobility. The wheel assembly includes wheels powered by one or more motors, advantageously allowing for motorized control of both steering and propulsion. This configuration facilitates precise positioning of the mobile medical platform and allows for manipulations that are difficult to perform on a conventional bed. In some embodiments, the wheels have a negligible backslope angle, which facilitates simultaneous steering and rolling.

[0211] Figure 21 A mobile medical platform 200 according to some embodiments is shown. The mobile medical platform 200 (e.g., a patient platform, a robotic surgical platform) includes a rigid base 221 and one or more drive wheel assemblies 227 (e.g., 227-1 to 227-4). The one or more drive wheel assemblies 227 are coupled (e.g., rigidly coupled to) a first side 228 (e.g., the bottom side) of the rigid base 221 and are configured to provide powered assisted movement and transport for the entire mobile medical platform 200.

[0212] In some implementations, the mobile medical platform 200 also includes a tabletop 225 (e.g., an operating table, surgical table, robotic operating table) and bedposts 220 supporting the tabletop 225. The tabletop 225 is configured to support a patient and serve as a hospital bed or operating table. A rigid base 221 (e.g., a base for an operating table, a rigid load-bearing shell, a chassis, etc.) is configured to support the tabletop 225 (e.g., having bedposts 220).

[0213] In some embodiments, the mobile medical platform 200 also includes a plurality of robotic arms 205, one or more adjustable arm supports 210, and one or more assembly joints 215. Each of the robotic arms 205 may be supported by one of the adjustable arm supports 210, and the adjustable arm supports 210 may in turn be supported by the assembly joints 215. In some embodiments, the mobile medical platform 200 includes medical devices, such as monitoring or imaging devices attached to the one or more robotic arms 205. The mobile medical platform 200 may also include an onboard battery for wireless operation of the mobile medical platform 200 and / or an onboard power supply that can be plugged into an electrical outlet to provide power for operation of the mobile medical platform 200. The one or more drive wheel assemblies 227 are configured to provide powered-assisted mobility to the mobile medical platform 200 and any devices or personnel supported by, mounted on, coupled to, or on the mobile medical platform.

[0214] about Figure 22A and Figure 22B An example of a mobile healthcare platform 200 including one or more wheel components 227 is shown.

[0215] Figure 22A The following are shown, according to some embodiments, four wheel assemblies 227-1 to 227-4. Figure 21 A bottom view of the mobile healthcare platform 200. Figure 22A In the middle, two wheel assemblies 227-1 and 227-2 are positioned toward the front end 228-1 of the rigid base 221, and two wheel assemblies 227-3 and 227-4 are positioned toward the rear end 228-2 of the rigid base 221.

[0216] Figure 22B A bottom view of a mobile medical platform 200 with three wheel assemblies 227-1 to 227-3 is shown. Two wheel assemblies 227-1 and 227-2 are positioned toward the front end 228-1 of the rigid base, and wheel assembly 227-3 is positioned toward the rear end 228-2 of the rigid base 221.

[0217] and Figure 22A and Figure 22BA mobile medical platform 200 is shown, which includes four and three drive wheel assemblies 227 respectively. The mobile medical platform 200 can have any number (greater than 0) of drive wheel assemblies 227. For example, the mobile medical platform 200 can have one, two, three, four or more drive wheel assemblies 227. Furthermore, the drive wheel assemblies 227 can be used, along with conventional wheels, to support the mobile medical platform 200 and provide it with mobility. For example, Figure 22B The wheel assemblies 227-1 and 227-2 of the illustrated mobile medical platform 200 can be replaced with conventional wheels, and the power wheel assembly 227-3 can provide powered mobility for the mobile medical platform 200. When the mobile medical platform 200 includes at least one power wheel assembly 227, the power wheel assembly 227 can provide powered mobility for the mobile medical platform 200, regardless of whether the mobile medical platform 200 includes additional power wheel assemblies 227 or conventional wheels.

[0218] Figure 23A The following are illustrated according to some implementation schemes. Figure 21 A perspective view of the wheel assembly 227 of the mobile medical platform 200. The wheel assembly 227 includes a wheel 230 configured to rotate about a rotation axis 231-1 and roll about a rolling axis 231-2. In some embodiments, the mechanical components of the wheel assembly 227 are located within a housing element 232 (e.g., a housing). Figure 23B The diagram shows a cross-sectional view of wheel assembly 227 along AA', illustrating the mechanical components of wheel assembly 227 that provide power to wheel 230.

[0219] refer to Figure 23B The wheel assembly 227 includes one or more motors configured to steer (e.g., rotate) and propel (e.g., roll) the wheel 230. Figure 23B The wheel assembly 227 shown includes: a steering motor 233 configured to rotate or steer the wheel 230 about a rotation axis or a rolling axis 231-1; and a propulsion motor 234 configured to propel the wheel 230 by rolling it about a rolling axis 231-2. Although Figure 23B The wheel assembly 227 shown includes two different (e.g., different and separate) motors for power steering and propulsion of wheel 230, but in some embodiments, power steering and propulsion of wheel 230 may be provided by a single motor.

[0220] In some embodiments, the wheel 230 of wheel assembly 227 is configured to rotate about steering axis 231-1 in a clockwise and / or counterclockwise direction. In some embodiments, the wheel 230 of wheel assembly 227 is configured to rotate 360° about steering axis 231-1. In some embodiments, the wheel 230 of wheel assembly 227 is configured to rotate less than 360° about steering axis 231-1, such as 350°, 330°, 320°, 300°, 280°, 250°, 200°, 90°, 60°, 45°, 30°, or 15°. In some embodiments, the wheel 230 of wheel assembly 227 is configured to rotate at least 180° about steering axis 231-1.

[0221] In some embodiments, the propulsion motor 234 may be configured to propel the wheel 230 in both forward and backward directions (e.g., rolling the wheel 230 in clockwise and counterclockwise directions around the rolling axis 231-2). In some embodiments, the propulsion motor 234 may be configured to propel the wheel in one direction (e.g., only in a clockwise or counterclockwise direction around the rolling axis 231-2).

[0222] In some embodiments, wheel 230 is spring-loaded, and wheel assembly 227 includes a lower spring 235 (e.g., a suspension spring) positioned above wheel 230 to continuously apply a downward force (directly or indirectly) to wheel 230. As a result, when wheel assembly 227 is in use (e.g., supporting mobile medical platform 200), lower spring 235 facilitates maintaining contact between wheel 230 and the ground or surface 236. Lower spring 235 ensures that wheel 230 remains in contact with surface 236, regardless of the surface profile of surface 236. For example, when wheel assembly 227 is used to transport mobile medical platform 200 or to support mobile medical platform 200 in a fixed position on an uneven surface (e.g., a floor with cracks, bumps, and / or holes), lower spring 235 pushes wheel 230 downward in a direction toward surface 236, such that wheel 230 remains in contact with surface 236 and provides stable support for mobile medical platform 200. In some implementations, the lower spring 235 is also positioned to apply an upward force (directly or indirectly) to the first side 228 of the rigid base 221 and to support the weight of the mobile medical platform 200.

[0223] In some embodiments, wheel assembly 227 further includes an upper spring 237 (e.g., an energy-absorbing spring or a vibration-absorbing spring) positioned above wheel 230 to suppress relative movement between wheel 230 and the rigid base 221 of mobile medical platform 200, such as relative movement caused by wheel 230 rolling on uneven surfaces or protrusions. The upper spring 237 is positioned between wheel 230 and rigid base 221. In a configuration where wheel assembly 227 includes both upper spring 237 and lower spring 235, the upper spring 237 is positioned above the lower spring 235, such that the lower spring 235 is disposed between the upper spring 237 and wheel 230. The spring constant of the upper spring 237 is greater than the spring constant of the lower spring 235.

[0224] Figure 23C It shows Figure 23A and Figure 23B A side view of wheel assembly 227. Wheel 230 is positioned such that the axis of rotation 231-1 and the axis of rolling 231-2 of wheel 230 have a negligible offset distance d (referred to as caster) and a caster angle θ. Illustration A is an enlarged view near the axis of rotation 231-1 of wheel 230, showing the offset distance d and caster angle θ between the axis of rotation 231-1 and the axis of rolling 231-2 of wheel 230. The offset distance d between the axis of rotation 231-1 and the axis of rolling 231-2 of wheel 230 is considered negligible, substantially eliminated, or substantially zero when it is 20% or less (e.g., d < 0.2w) or less than 6 mm of the contact width w between wheel 230 and the ground 236. The contact width w of wheel 230 is the distance between the two furthest points of contact with surface 236 on wheel 230 under nominal or ideal conditions (e.g., when surface 236 is flat). Figure 23C The offset distance d between the rotation axis 231-1 and the rolling axis 231-2 of the wheel 230 shown, as well as the caster angle θ of the wheel 230, are negligible (e.g., essentially 0, essentially eliminated). By essentially eliminating the caster angle θ or the offset distance d of the wheel 230, the wheel 230 is able to rotate about the rotation axis 231-1 with little or no sweep volume and roll about the rolling axis 231-2 independently of the orientation of the wheel 230 relative to the rotation axis 231-1. For example, the wheel 230 can roll about the rolling axis 231-2 and rotate about the rotation axis 231-1 simultaneously. The ability of the propulsion wheel 230 to simultaneously rotate the wheel 230 allows the wheel assembly to manipulate the mobile medical platform 200 in a variety of ways that is not possible with conventional wheels having a non-negligible caster angle. Regarding Figures 24A to 24E Examples of various movements are described that can be achieved by a mobile medical platform 200 powered by one or more wheel components 227.

[0225] Figure 24AExamples of two different steering paths for navigation of a mobile medical platform 200 powered by one or more wheel assemblies 227 are shown. The first steering path 240, shown in dashed lines, corresponds to a typical steering path of the mobile medical platform 200, which can be performed with or without the powered wheel assemblies 227. Conversely, the second steering path 242, shown in solid lines, corresponds to a steering path with a smaller turning radius compared to the first steering path 240. Due to the ability of the wheels 230 of the powered wheel assemblies 227 to rotate and roll simultaneously, the second steering path 242 can be performed by the mobile medical platform 200 including one or more powered wheel assemblies 227, thereby increasing the maneuverability of the mobile medical platform 200 in tight corners and confined spaces.

[0226] In addition to being able to rotate and roll simultaneously, the wheel 230 of the drive wheel assembly 227 can also rotate without rolling. This allows the wheel 230 to be oriented in a desired direction before the rolling of the wheel 230 or the movement of the mobile medical platform 200 begins. For example, as Figures 24B to 24D As shown, the wheels 230 of the power wheel assembly 227 in the mobile medical platform 200 are able to rotate to a desired position before rolling, thereby allowing the mobile medical platform 200 to rotate fully or pivot about the central position 244 without causing the mobile medical platform 200 to translate laterally.

[0227] The ability to independently control the rotation and propulsion of the wheels 230 of the drive wheel assembly 227 allows for precise movement of the mobile medical platform 200. For example, when navigating or locating the mobile medical platform 200 in a compact space such as a narrow corridor or elevator, it may be desirable to be able to orient the wheels 230 of the wheel assembly 227 when the mobile medical platform 200 is stationary. Figure 24E An example of navigating and precisely maneuvering a mobile medical platform 200 to a desired location in a confined space (shown in thick lines) is illustrated. The wheels 230 of the drive wheel assembly 227 are capable of aligning in the same direction before moving the mobile medical platform 200 forward, and the wheels 230 are capable of reorienting in different directions before rolling the wheels 230 and moving the mobile medical platform 200 to the desired location. In addition... Figure 24E In addition to the path shown, the power wheel assembly 227 of the mobile medical platform 200 can transport the mobile medical platform 200 in many other ways, enabling it to pass through... Figure 24E The corners shown include turning and / or pivoting the mobile medical platform 200. The degrees of freedom of the wheels 230, which independently rotate and propel the power wheel assembly 227, allow for a wide variety of movements depending on the desired final position and orientation of the mobile medical platform 200. Therefore, users can precisely and easily manipulate the mobile medical platform 200 in a variety of physical environments.

[0228] In some implementations, users or operators can control the movement of the mobile medical platform 200 via one or more input devices, such as handheld devices or controllers. Figure 25A An example of an input device 250 for controlling the movement of a mobile medical platform 200 is shown. The input device 250 may communicate with the mobile medical platform 200 via a wireless connection (e.g., Bluetooth or via a wireless network) or via one or more wired electrical connections. Therefore, the input device 250 can be implemented in various ways—it may be a handheld device, controller, joystick controller, or even a device with a touchscreen surface, such as a tablet or smartphone. For example, the input device 250 may be located on or mounted on the mobile medical platform 200, and the input device 250 may be electrically connected to each wheel assembly 227. In another example, the input device may be a smartphone or tablet that communicates with the mobile medical platform 200 via a wireless network or Bluetooth connection. The smartphone or tablet may include an application configured to allow users to control the movement of the mobile medical platform 200 via user input at a touchscreen or a power display on the smartphone or tablet. In some embodiments, the input device 250 is capable of communicating with the mobile medical platform 200 within a predetermined operating range (e.g., within 5 feet, 10 feet, 20 feet, or 50 feet of each other). Depending on the implementation of the input device, when the mobile medical platform 200 is used, for example, to transport patients, the operator of the mobile medical platform 200 can push or control the movement of the mobile medical platform 200 while walking next to it.

[0229] Input device 250 includes a steering indicator 252-1 configured to control the orientation (e.g., direction, movement) of mobile medical platform 200, and a drive indicator 252-2 configured to control the movement of mobile medical platform 200. For example, by providing input via steering indicator 252-1, a user can cause mobile medical platform 200 to rotate or pivot clockwise or counterclockwise with negligible lateral movement (e.g., no lateral translation of mobile medical platform 200). Additionally, by providing input via drive indicator 252-2, a user can cause mobile medical platform 200 to move laterally in any direction (left, right, front, back, diagonally) without rotating or changing the orientation of mobile medical platform 200. The operation of each wheel assembly 227 of mobile medical platform 200 is automatically controlled and coordinated to achieve the movement or action requested by the user via input device 250. Although steering indicator 252-1 and drive indicator 252-2 are... Figure 25AThe center is shown as a physical joystick, but the steering indicator 252-1 and driving indicator 252-2 can be implemented via a touch screen or touchpad or replaced by directional indicator (e.g., indicator corresponding to left, right, forward and rear directions).

[0230] In some embodiments, input device 250 includes a display 254. Display 254 may present a representation of the mobile medical platform 200 and / or may display additional information about the mobile medical platform 200, such as any warnings or error messages, such as a low battery warning. Input device 250 may optionally include one or more additional power indicators 256. The power indicators in these one or more additional power indicators 256 may correspond to other functions of the mobile medical platform 200, such as changing the height of the tabletop 225 relative to the rigid base 221 of the mobile medical platform 200 or preset settings of the mobile medical platform 200.

[0231] In some implementations, input device 250 includes motion indicator 258. Motion indicator 258 may be associated with a preset standard for activating or deactivating the mobile medical platform 200. For example, the preset standard may require the detection of user input at motion indicator 258 (e.g., motion indicator 258 being activated, initiated, pressed, or depressed) to initiate movement of the mobile medical platform 200 or to initiate propulsion or orientation of the wheels 230 of wheel assembly 227. In another example, the preset standard may require maintaining (e.g., continuously depressing, activating, or pressing) user input at motion indicator 258 while the mobile medical platform 200 and / or the wheels 230 of wheel assembly 227 are in motion. In a third example, the preset standard may require the detection of user input at either steering indicator 252-1 or drive indicator 252-2. In a fourth example, the preset standard may require the mobile medical platform 200 to operate below a predetermined speed (e.g., movement of the mobile medical platform 200 does not exceed a predetermined speed). In yet another example, the preset criteria may require that two or more of the aforementioned conditions be met.

[0232] In some implementations, in response to the determination that a preset criterion is met (e.g., continued detection of user input at motion indicator 258, or receipt of user input at steering indicator 252-1 and / or drive indicator 252-2), the wheels 230 of the wheel assembly 227 are automatically oriented (e.g., in the same direction) based on the previous user input, causing the mobile medical platform 221 to continue moving.

[0233] In some implementations, the mobile medical platform can automatically engage in a fixing configuration in response to the determination that a preset criterion is not met (e.g., no user input is detected at motion indicator 258, user input stops at motion indicator 258, no user input is detected at either steering indicator 252-1 or drive indicator 252-2, or the mobile medical platform 200 is traveling at a speed exceeding a predetermined speed). For example, the mobile medical platform 200 automatically orients the wheels 230 of the wheel assembly 227 into a preset braking configuration, thereby fixing the mobile medical platform 200 and preventing unintentional movement of the mobile medical platform 200. In some implementations, the fixing configuration may correspond to a change in the motor speed or motor direction of the propulsion motor 224, causing the wheels 230 to decelerate or brake.

[0234] In some embodiments, the mobile medical platform 200 includes one or more brake pads configured to contact the wheels 230 to slow or stop the rolling movement of the wheels 230. In some embodiments, the mobile medical platform 200 includes a deployable lever-based disconnect mechanism that, when deployed, contacts the floor (such as surface 236) and raises the rigid base 221 such that one or more wheels 230 of the wheel assembly 227 are not in contact with the floor. Figure 25B and Figure 25C They are shown respectively Figure 22B and Figure 22A An example of a pre-defined braking structure for a mobile healthcare platform.

[0235] like Figure 25B As shown, when the mobile medical platform 200 includes two or more wheel assemblies (in this example, three wheel assemblies 227-1 to 227-3), a preset braking configuration corresponds to the orientation of the wheels 230 of at least two different wheel assemblies 227 in different directions (indicated by dashed lines), such that the respective wheels 230 are not parallel to each other. For example, the wheel 230 of wheel assembly 227-1 is oriented in a first direction or at a first angle α1 relative to a reference axis, and the wheel 230 of wheel assembly 227-2 is oriented in a second direction or at a second angle α2 different from the first angle relative to the reference axis. In some embodiments, the first angle and the second angle can differ by a range of 10 degrees to 170 degrees.

[0236] In a configuration of the mobile medical platform 200 including four wheel assemblies, a preset braking configuration corresponds to wheels 230 of adjacent wheel assemblies 227 oriented in different directions (e.g., wheel assemblies 227 at the same end, front end 228-1, or rear end 228-2 of the mobile medical platform 200). In some embodiments, when in the preset braking configuration, the wheels 230 of the four wheel assemblies are guided to a common point, such as the center of mass 259 of the at least four wheel assemblies. For example, as Figure 25CAs shown, the wheels 230 of the four wheel assemblies 227 are oriented to form an "X" shape when in a preset braking configuration. In some embodiments, the wheels of wheel assemblies 227-1 and 227-2 are guided to a first common point, while the wheels of wheel assemblies 227-3 and 227-4 are guided to a second common point different from the first common point.

[0237] Figures 26A to 26D A flowchart illustrating a method 300 performed by a mobile healthcare platform (e.g., mobile healthcare platform 200) according to some embodiments is shown.

[0238] The mobile medical platform 200 (e.g., operating table, surgical table, robotic operating table) includes a rigid base 221 (e.g., a base for an operating table, a rigid load-bearing housing, a chassis) and one or more wheel assemblies 227 coupled (e.g., rigidly coupled) to a first side 228 of the rigid base 221 to support and move the rigid base 221 in a physical environment. A respective wheel assembly 227 of the one or more wheel assemblies includes a wheel 230, a first motor 223 configured to steer the wheel (e.g., a steering motor), and a second motor 234 configured to roll the wheel 230 (e.g., a propulsion motor).

[0239] In some embodiments, the mobile medical platform 200 is an operating table including a tabletop 225 and a rigid base 221 supporting the tabletop 225. In some embodiments, the mobile medical platform 200 also includes medical devices (e.g., a robotic arm 205 in a docked or undocking position, or monitoring devices attached to a patient transported by the mobile medical platform 200) supported by the rigid base 221. In some embodiments, the mobile medical platform 200 supports the patient during movement of the mobile medical platform 200, while an operator of the mobile medical platform 200 pushes or controls its movement as they walk beside it.

[0240] Method 300 includes (310) receiving user input to move the mobile medical platform, and (320) moving at least one wheel 230 of the one or more wheel assemblies 227, including any of the following: A) activating a first motor 223 to orient the wheel 230 in a direction corresponding to the user input (e.g., rotation or steering), or B) activating a second motor 234 to roll (e.g., propel) the wheel 230. In some embodiments, at least one wheel 230 of the one or more wheel assemblies 227 is moved based on one or more inputs, such as user input (e.g., movement requested by the user of the mobile medical platform 200), sensor information, bed position information, and / or bed motion information.

[0241] In some embodiments, a respective wheel assembly 227 in one or more wheel assemblies includes (312) a first spring 235 (e.g., a lower spring 235) positioned to apply a downward force (e.g., directly or indirectly) to the wheel 230. As a result, the first spring 235 helps the wheel 230 maintain contact with the ground (e.g., surface 236). The first spring 235 is positioned to apply an upward force (e.g., directly or indirectly) to a first side 228 of the rigid base 221 of the mobile medical platform 220 and to support the weight of the mobile medical platform 200.

[0242] In some embodiments, the respective wheel assembly 227 in the one or more wheel assemblies includes (314) a second spring 237 (e.g., an upper spring 237) which is positioned to suppress relative movement between the wheel 230 and the rigid base 221 (e.g., relative movement caused by the wheel 230 rolling on protrusions and / or holes in an uneven surface).

[0243] In some embodiments, a respective wheel assembly 227 in one or more wheel assemblies includes (316) a first spring 235 (e.g., an upper spring or energy-absorbing spring 235) and a second spring 237 (e.g., a lower spring or suspension spring 237). The first spring 235 is located below the rigid base 221 and above the second spring 237. The second spring 237 is located above the wheel 230 and below the first spring 235. The spring constant of the first spring 235 is greater than the spring constant of the second spring 237 (e.g., the first spring 235 is stiffer than the second spring 237).

[0244] In some implementations, user input is received (318) from one or more input devices (e.g., input device 250). In some implementations, the one or more input devices communicate with the mobile health platform 200 (e.g., via wired or wireless communication).

[0245] In some implementations, the first motor 233 and the second motor 234 are activated simultaneously (321), causing the wheel 230 to rotate and roll simultaneously (e.g., to turn and propel simultaneously). Such simultaneous turning and rolling operations facilitate the smooth transport of the mobile medical platform.

[0246] In some implementations, after wheel 230 is oriented in a corresponding direction (e.g., by the first motor 233), the second motor 234 is activated (322), and while the orientation of wheel 230 is maintained in the corresponding direction (e.g., by the first motor 233), wheel 230 is rolled by the second motor 234. For example, wheel 230 may be turned in the desired direction by the first motor 233 before being propelled forward in the desired direction by the second motor 234. This sequential turning and rolling facilitates precise positioning of the mobile medical platform.

[0247] In some embodiments, activating the first motor 233 to orient the wheel 230 in the corresponding direction includes (323) turning the wheel 230 about a first axis 231-1 (e.g., a rotation axis or steering axis 231-1) by the first motor 233, which is substantially perpendicular to the plane corresponding to the first side 228 of the rigid base 221.

[0248] In some embodiments, activating the second motor 234 to make the wheel 230 roll includes (324) providing power to the wheel 230 via the second motor 234 to make the wheel 230 roll about a second axis 231-2 (e.g., a rolling axis 231-2), which is substantially parallel to the plane corresponding to the first side 228 of the rigid base 221.

[0249] In some embodiments, (325) the first axis 231-1 and the second axis 231-2 are aligned to substantially eliminate the caster angle θ of the first axis 231-1 (also referred to herein as the caster angle θ of the wheel 230), such that the offset distance d between the first axis 231-1 and the second axis 231-2 is substantially 0. The caster angle θ of the first axis 231-1 (or wheel 230) is considered substantially eliminated when the offset distance d between the first axis 231-1 and the second axis 231-2 is 20% or less of the contact width w between the wheel and the ground 236 (e.g., d < 0.2w) or less than 6 mm. For example, the first axis 231-1 intersects the second axis 231-2 such that the offset distance d is 0. Regarding Figure 23C The diagram provides illustrations and discussion of the caster angle θ, offset distance d, and wheel contact width w of the first axis 231-1 (or wheel 230). Such elimination or reduction of the caster angle facilitates steering of wheel 230 via the first motor.

[0250] In some implementations, the one or more wheel components 227 include at least two wheel components (e.g., a mobile medical platform includes two wheel components on the front end 280-1 of a rigid base 221, such as...). Figure 22B The three wheel components shown are as follows: Figure 22A The method 300 includes: (330) triggering the corresponding first motor 233 of one or more of the at least two wheel assemblies 227 in a common direction (e.g., making their rolling axes parallel to each other) based on the determination that a first criterion is met (e.g., a preset automatic braking criterion is not met).

[0251] In some embodiments, method 300 includes: triggering (332) a corresponding first motor 233 of one or more of the at least two wheel assemblies (e.g., wheel assemblies 227-1 and 227-2) to steer (e.g., align) the corresponding wheels 230 of the at least two wheel assemblies 227 to form a preset braking configuration, based on the determination that a first criterion is not met (e.g., a preset automatic braking criterion is met, motion indicator 258 or safety switch is released, or the movement speed of rigid base 221 is faster than a preset speed or threshold speed). For example, the second axis 231-2 (e.g., rolling axis 231-2) of the wheels 230 on the same side of rigid base 221 (e.g., the wheels 230 on the front end 280-1 of rigid base 221, the wheels 230 on the rear end 280-2 of rigid base 221, the wheels 230 on the left side of rigid base 221, and the wheels 230 on the right side of rigid base 221) is perpendicular to the second axis of at least one other wheel 230. Figure 25B An example of a preset braking configuration for wheels in a mobile medical platform having at least four wheel components is provided.

[0252] In some implementations, the first criterion includes (334) the requirement that input of a first preset type be continuously maintained in order to satisfy the first criterion. For example, the first criterion may require that motion indicator 258 on input device 250 be continuously pressed (e.g., pressed, activated) or continuously pressed during movement of mobile patient platform 200 in order to allow movement of mobile medical platform 200.

[0253] In some embodiments, the one or more wheel assemblies 227 include at least four wheel assemblies (e.g., a mobile medical platform includes four or more wheel assemblies). Triggering the respective first motor 233 of the at least four wheel assemblies 227 to turn the respective wheel 230 of the at least four wheel assemblies 227 to form a preset braking configuration includes: rotating the respective wheel 230 about the second axis 231-2 of the adjacent wheel 230 of the four wheel assemblies 227 by the respective first motor 233 (336), such that the second axis 231-2 of the adjacent wheel of the four wheel assemblies 227 are arranged at different angles. For example, the rolling axes 231-2 of the wheels 230 on the same side of the rigid base 221 (e.g., the wheel 230 on the front end 280-1 of the rigid base 221, the wheel 230 on the rear end 280-2 of the rigid base 221, the wheel 230 on the left side of the rigid base 221, and the wheel 230 on the right side of the rigid base 221) are oriented at an angle (e.g., 90 degrees, 60 degrees, etc.) relative to each other and are not parallel to each other. In another example, when the wheel 230 is in a preset braking configuration, the wheel 230 can be oriented to form an "X" shape on the bottom 228 of the rigid base 221, such as... Figure 25C As shown.

[0254] In some implementations, the mobile medical platform includes one or more deployable levers that, when deployed, contact the floor (e.g., surface 236) and lift the rigid base 221, causing the wheels 230 of the one or more wheel assemblies 227 to stop contacting the floor.

[0255] In some implementations, method 300 further includes (340) coordinating the operation of two or more wheel assemblies 227 to achieve a requested movement of the rigid base 221. The requested movement of the rigid base 221 corresponds to user input. For example, as... Figure 24A As shown, the direction of wheel 230 can be coordinated to steer mobile medical platform 220 during forward movement. In another example, as... Figures 24B to 24D As shown, the wheels 230 of two or more wheel assemblies 227 can be coordinated to provide rotational movement (e.g., pivoting), wherein the translation of the rigid base 221 relative to the physical environment is 0 or negligible.

[0256] In some implementations, the mobile medical platform 200 includes a robotic surgical system (e.g., surgical robot system 100) coupled to a rigid base 221, and the robotic surgical system includes a table 225 (such as an operating table) and one or more robotic arms 205. Method 300 may further include (350) moving the one or more robotic arms 205 relative to the table 225.

[0257] In some implementations, the method includes: receiving one or more control parameters (e.g., direction, displacement, translation, preset command) corresponding to user input (e.g., button press, swipe input, movement, gesture) from one or more input devices (e.g., joystick, touch screen device, control device, etc.) that communicate with the mobile medical platform 200 (e.g., one or more processors of the mobile medical platform 200), and controlling a corresponding first motor 233 and a corresponding second motor 234 of the one or more wheel assemblies 227 to move the corresponding wheel 230 according to the one or more control parameters.

[0258] Figure 27 This is a flowchart illustrating another method 400 for utilizing a mobile healthcare platform (e.g., mobile healthcare platform 200) according to some embodiments. The mobile healthcare platform 200 includes a rigid base 221 and at least two wheel assemblies 227 coupled to a first side 228 of the rigid base 221 to support and move the rigid base 221 in a physical environment. Each of the at least two wheel assemblies 227 includes a wheel 230, a first motor 233 configured to steer the wheel 230, and a second motor 234 configured to roll the wheel.

[0259] Method 400 includes (410) receiving input (e.g., sensor information, bed position / motion information, user input) from one or more input devices (e.g., input device 250). In some embodiments, the input corresponds to a request from a mobile healthcare platform 200.

[0260] Method 400 further includes (420) generating one or more control commands for controlling the respective first motor 233 and the respective second motor 234 of the at least two wheel assemblies 227. Generating the one or more control commands includes (430) triggering the at least two wheel assemblies 227 to align the respective wheels 230 of the at least two wheel assemblies 227 in a common direction, based on determining that the input meets a first criterion.

[0261] In some implementations, the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion, such as pressing a motion indicator 258, while providing one or more user inputs regarding the movement of the mobile healthcare platform 200.

[0262] Generating the one or more control commands includes: (440) triggering the at least two wheel assemblies 227 to place the corresponding wheels 230 of the at least two wheel assemblies 227 into a preset braking configuration based on a second criterion that determines the input meets a different criterion than the first criterion. For example, when the motion indicator 258 is not depressed, the corresponding wheels 230 of the at least two wheel assemblies 227 are oriented to the preset braking configuration of the fixed mobile medical platform 200.

[0263] In some embodiments, the one or more wheel assemblies 227 include at least four wheel assemblies (e.g., a mobile medical platform includes at least four wheel assemblies). Triggering the at least four wheel assemblies 227 to place the respective wheels 230 of the at least four wheel assemblies 227 into a preset braking configuration includes rotating (450) the respective wheels 230 about the second axes 231-2 of the adjacent wheels of the four wheel assemblies 227 by a respective first motor 233, such that the second axes 231-2 of the adjacent wheels of the four wheel assemblies 227 are arranged at different angles.

[0264] In some embodiments, the respective wheels 230 of the at least four wheel assemblies 227 are guided to a common point when in the braking configuration. In some embodiments, the common point is the center of mass 259 of the at least four wheel assemblies 227. For example, the respective wheels 230 of the four wheel assemblies 227 may be arranged in an "X" shape, such as... Figure 25C As shown.

[0265] As described herein, the wheel assembly of the mobile medical platform 200 may have negligible casters (and negligible tilt angle). The reduction or elimination of casters allows the mobile medical platform to be transported with little or no sweep volume, which in turn improves positioning accuracy during transport. It also facilitates independent selection of the steering direction of each wheel, simplifying the control mechanism.

[0266] According to some embodiments, the mobile medical platform 200 includes a rigid base 221 and one or more wheel assemblies 227 coupled to a first side 228 of the rigid base 221 and supporting the rigid base 221. Each wheel assembly 227 includes: a wheel 230 configured to rotate about a first axis 231-1 (e.g., a rotation axis or steering axis 231-1) and a second axis 231-2 (e.g., a rolling axis 231-2) different from the first axis 231-1; and a first motor positioned to rotate the wheel 230 about a respective one of the first axis 231-1 and the second axis 231-2. The first axis 231-1 is aligned with the second axis 231-2, resulting in a negligible caster angle θ for the wheel 230. In some embodiments, the corresponding wheel assembly 227 includes a second motor different from the first motor. In some embodiments, the corresponding wheel assembly 227 does not include a second motor different from the first motor.

[0267] In some implementations, the mobile medical platform 200 also includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause the first motor 233 to move the wheel 230 according to one or more inputs.

[0268] In some embodiments, the corresponding wheel 230 assembly further includes a second motor 234. When executed by the one or more processors, the stored instructions cause the one or more processors to receive one or more control parameters corresponding to a user from one or more input devices (e.g., input device 260) in communication with the one or more processors, and to control the corresponding first motor 233 and corresponding second motor 234 of the one or more wheel assemblies 227 to move the corresponding wheel 230 of the one or more wheel assemblies 227 according to the one or more control parameters.

[0269] As described herein, the wheel assembly of a mobile healthcare platform may include a combination of two springs. The combination of two springs helps the respective wheel maintain contact with the ground while mitigating impacts or vibrations caused by uneven ground surfaces.

[0270] According to some embodiments, the mobile medical platform 200 includes a rigid base 221 and one or more wheel assemblies 227, which are coupled to a first side 228 of the rigid base 221 and support the rigid base 221 during movement of the mobile medical platform 200. A respective wheel assembly 227 includes a wheel 230, a first motor 233 positioned to rotate the wheel, a first spring 235 positioned to apply a downward force on the wheel 230, and a second spring 237 positioned to inhibit relative movement between the wheel 230 and the rigid base 221. In some embodiments, the respective wheel assembly 227 includes a second motor 234 for rolling the wheel. In some embodiments, the respective wheel assembly 227 does not include a second motor 234 for rolling the wheel.

[0271] In some embodiments, a first motor 223 is positioned to rotate wheel 230 about a first axis 231-1 (e.g., a rotation axis or steering axis 231-1), which is substantially perpendicular to the plane corresponding to the first side 228 of the rigid base 221. A corresponding wheel assembly in the one or more wheel assemblies also includes a second motor 235 positioned to roll wheel 230 about a second axis 231-2 (e.g., a rolling axis 231-2), which is substantially parallel to the plane corresponding to the first side 228 of the rigid base 221.

[0272] In some implementations, the mobile medical platform 200 includes one or more processors and a memory storing instructions that, when executed by the one or more processors, cause at least one of a first motor 233 or a second motor 235 to move wheel 230 according to one or more inputs.

[0273] According to some embodiments, the mobile medical platform 200 includes a rigid base 221 and at least four wheel assemblies 227 coupled to and supporting the rigid base 221. Each of the at least four wheel assemblies 227 includes a corresponding wheel 230 and a corresponding first motor 223 positioned to steer the corresponding wheel. The mobile medical platform 200 also includes one or more processors and a memory storing instructions that, when executed by the one or more processors, steer the corresponding wheels 230 of the at least four wheel assemblies 227 such that the corresponding wheels 230 of the at least four wheel assemblies 227 are aligned in a common direction at a first time, and that the corresponding wheels 230 of the at least four wheel assemblies 227 are arranged in a braking configuration at a second time different from the first time, such that the rigid base 221 is fixed. In some embodiments, the corresponding wheel assembly 227 includes a second motor for rolling the corresponding wheel. In some embodiments, the corresponding wheel assembly 227 does not include a second motor for rolling the corresponding wheel.

[0274] In some implementations, the respective wheels 230 of the at least four wheel assemblies 227 are guided to a common point when in the braking configuration.

[0275] In some implementations, the common point is the center of mass 259 of the at least four wheel components 227.

[0276] The embodiments disclosed herein relate to systems and technologies for providing powered mobility to mobile medical platforms such as hospital beds or operating tables.

[0277] 3. Implementation System and Terminology

[0278] Figure 28 This is a schematic diagram of the electronic components of a mobile medical platform 200 according to some implementation schemes.

[0279] Mobile healthcare platform 200 includes one or more processors 280, which, along with storage, are used to perform any of the methods described herein (e.g., regarding...). Figures 26A to 26D as well as Figure 27 The one or more processors 280 communicate with a computer-readable storage medium 282 (e.g., a computer memory device, such as random access memory, read-only memory, static random access memory, and non-volatile memory, as well as other storage devices, such as hard disk drives, optical discs, magnetic tape recording, or any combination thereof) to receive instructions for the operation described. The one or more processors 280 also communicate with an input / output controller 284 (via a system bus or any circuitry). The input / output controller 284 receives instructions and / or data from input devices (e.g., user input device 286 corresponding to input device 250) and relays the received instructions and / or data to the one or more processors 280 (e.g., with or without any translation, conversion, and / or data processing). The input / output controller 284 also receives instructions and / or data from the one or more processors 280 and relays these instructions and / or data to one or more actuators, such as first motors 233-1 to 233-4 and second motors 234-1 to 234-4. In some embodiments, the input / output controller 284 is coupled to one or more actuator controllers 290-1 to 290-4 and provides instructions and / or data to at least a subset of the one or more actuator controllers 290-1 to 290-4, which in turn provide control signals to selected actuators. In some embodiments, the one or more actuator controllers 290-1 to 290-4 are integrated with the input / output controller 284, and the input / output controller 284 provides control signals directly to the one or more actuators (without a separate actuator controller). Although Figure 28The illustration shows the presence of separate actuator controllers 290-1 to 290-4 (e.g., one actuator controller for each wheel assembly), but in some embodiments, fewer actuator controllers may be used (e.g., one actuator controller for the entire mobile medical platform, or one actuator controller for a pair of wheel assemblies, etc.), additional actuator controllers may be used (e.g., one actuator controller for each actuator, such as a first motor or a second motor), or any combination thereof.

[0280] The specific implementations disclosed herein provide systems, methods, and apparatus for medical platforms with powered assisted mobility.

[0281] It should be noted that the terms “couple,” “coupling,” “coupled,” or other variations of the word “couple” used herein may indicate an indirect or direct connection. For example, if a first component is “coupled” to a second component, the first component may be indirectly connected to the second component or directly connected to the second component via another component.

[0282] The powered mobility functionality for mobile healthcare platforms described herein can be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium accessible by a computer or processor. By way of example, and not limitation, such a medium may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disk read-only memory (CD-ROM) or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. It should be noted that computer-readable media can be tangible and non-transitory. As used herein, the term "code" can refer to software, instructions, code, or data executable by a computing device or processor.

[0283] The methods disclosed herein include one or more steps or actions for implementing the methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims unless proper operation of the described method requires a specific order of steps or actions.

[0284] As used herein, the term "multiple" means two or more. For example, multiple components indicates two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, operation, processing, derivation, investigation, lookup (e.g., searching in a table, database, or another data structure), ascertainment, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Furthermore, "determine" can include parsing, selecting, picking, building, etc.

[0285] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0286] The foregoing description of the disclosed specific embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these specific embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other specific embodiments without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ numerous corresponding alternatives and equivalent structural details, such as equivalent means of fastening, mounting, connecting, or engaging tool components, equivalent mechanisms for generating specific actuating movements, and equivalent mechanisms for delivering electrical energy. Therefore, the invention is not intended to be limited to the specific embodiments shown herein, but is endowed with the broadest scope consistent with the principles and novel features disclosed herein.

[0287] The following clauses describe some implementation plans or specific implementations:

[0288] Clause 1. A mobile healthcare platform, comprising:

[0289] Rigid base; and

[0290] One or more wheel assemblies, the one or more wheel assemblies being coupled to a first side of the rigid base to support and move the rigid base in a physical environment, wherein a respective wheel assembly of the one or more wheel assemblies includes:

[0291] wheel;

[0292] A first motor, configured to steer the wheel, and

[0293] A second motor is configured to make the wheel roll.

[0294] Clause 2. The mobile healthcare platform as described in Clause 1, wherein:

[0295] The first motor is configured to turn the wheel about a first axis, the first axis being substantially perpendicular to a plane corresponding to the first side of the rigid base, and

[0296] The second motor is configured to cause the wheel to roll about a second axis, which is substantially parallel to the plane corresponding to the first side of the rigid base.

[0297] Clause 3. The mobile healthcare platform as described in Clause 2, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0298] Clause 4. The mobile medical platform according to any one of Clauses 1 to 3, wherein the respective wheel assembly further comprises a first spring positioned to apply a downward force on the wheel.

[0299] Clause 5. The mobile medical platform according to any one of Clauses 1 to 4, wherein the respective wheel assembly further comprises a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0300] Clause 6. The mobile healthcare platform according to any one of Clauses 1 to 5, wherein the corresponding wheel component further comprises:

[0301] The first spring; and

[0302] A second spring is located below the first spring, wherein the second spring is located above the wheel, and the spring constant of the first spring is greater than the spring constant of the second spring.

[0303] Clause 7. The mobile healthcare platform pursuant to any one of Clauses 1 to 6 further includes:

[0304] One or more processors; and

[0305] The memory stores instructions that, when executed by the one or more processors, cause at least one of the first motor or the second motor to move the wheel according to one or more inputs.

[0306] Clause 8. The mobile medical platform according to Clause 7, wherein the one or more wheel assemblies include at least two wheel assemblies, and the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motor of one or more of the at least two wheel assemblies according to a predetermined automatic braking criterion being met, so that the corresponding wheel of the at least two wheel assemblies is turned to form a predetermined braking configuration.

[0307] Clause 9. The mobile medical platform according to Clause 8, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

[0308] Clause 10. A mobile healthcare platform pursuant to Clause 8 or 9, wherein the stored instructions, when executed by said one or more processors, cause said one or more processors to:

[0309] The at least two wheel assemblies are triggered to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met; and

[0310] The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

[0311] Clause 11. The mobile healthcare platform as described in Clause 10, wherein the first criterion includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first criterion.

[0312] Clause 12. A mobile healthcare platform pursuant to any one of Clauses 7 to 11, wherein the stored instructions, when executed by said one or more processors, cause said one or more processors to:

[0313] Receive one or more control parameters corresponding to user input from one or more input devices communicating with the one or more processors; and

[0314] Control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheels according to the one or more control parameters.

[0315] Clause 13. The mobile healthcare platform according to Clause 12, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters comprises:

[0316] The first motor and the second motor of the corresponding wheel assembly are controlled to simultaneously turn and roll the wheel of the corresponding wheel assembly.

[0317] Clause 14. The mobile healthcare platform pursuant to Clauses 7 through 13, wherein the stored instructions, when executed by said one or more processors, cause said one or more processors to:

[0318] The operation of two or more wheel assemblies is coordinated to achieve the requested movement of the rigid base.

[0319] Clause 15. The mobile healthcare platform pursuant to any one of Clauses 1 to 14 further includes:

[0320] A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0321] Clause 16. A mobile healthcare platform, comprising:

[0322] Rigid base; and

[0323] One or more wheel assemblies, said one or more wheel assemblies being coupled to a first side of the rigid base and supporting the rigid base, wherein a respective wheel assembly of said one or more wheel assemblies includes:

[0324] Wheels, said wheels being configured to rotate about a first axis and a second axis, the second axis being different from the first axis; and

[0325] A first motor is positioned to rotate the wheel about a corresponding one of a first axis and a second axis, wherein the first axis is aligned with the second axis such that the caster angle of the wheel is negligible.

[0326] Clause 17. The mobile healthcare platform as described in Clause 16, wherein:

[0327] The first motor is positioned to rotate the wheel about the first axis;

[0328] The respective wheel assembly in one or more wheel assemblies further includes a second motor, the second motor being positioned to rotate the wheel about the second axis; and

[0329] The second axis is substantially parallel to the plane corresponding to the first side of the rigid base.

[0330] Clause 18. The mobile medical platform according to Clause 16 or 17, wherein the respective wheel assembly of the one or more wheel assemblies further includes a first spring positioned to apply a downward force on the wheel.

[0331] Clause 19. The mobile medical platform according to any one of Clauses 16 to 18, wherein the respective wheel assembly of the one or more wheel assemblies further comprises a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0332] Clause 20. The mobile healthcare platform according to any one of Clauses 16 to 19, wherein the respective wheel assembly in the one or more wheel assemblies further comprises:

[0333] The first spring; and

[0334] A second spring is located below the first spring, wherein the spring constant of the first spring is greater than the spring constant of the second spring.

[0335] Clause 21. The mobile healthcare platform pursuant to any one of Clauses 16 to 20 further includes:

[0336] One or more processors; and

[0337] The memory stores instructions that, when executed by the one or more processors, cause the first motor to move the wheel in response to one or more inputs.

[0338] Clause 22. The mobile medical platform according to Clause 21, wherein the one or more wheel assemblies include at least two wheel assemblies, and the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger a corresponding first motor of one or more of the at least two wheel assemblies based on the determination that a preset automatic braking criterion is met, so as to cause the corresponding wheels of the at least two wheel assemblies to rotate to form a preset braking configuration.

[0339] Clause 23. The mobile medical platform according to Clause 22, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

[0340] Clause 24. A mobile medical platform according to any one of Clauses 21 to 23, wherein the respective wheel assembly further comprises a second motor, and the stored instructions, when executed by the one or more processors, cause the one or more processors to:

[0341] Receive one or more control parameters corresponding to a user from one or more input devices communicating with the one or more processors; and

[0342] Control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheels of the one or more wheel assemblies according to the one or more control parameters.

[0343] Clause 25. A mobile healthcare platform pursuant to any one of Clauses 21 to 24, wherein:

[0344] The one or more wheel assemblies include at least two wheel assemblies; and

[0345] The stored instructions, when executed by the one or more processors, cause the one or more processors to:

[0346] The at least two wheel assemblies are triggered to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met; and

[0347] The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

[0348] Clause 26. The mobile healthcare platform as described in Clause 25, wherein the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0349] Clause 27. A mobile medical platform according to any one of Clauses 21 to 26, wherein the respective wheel assembly further comprises a second motor, and the stored instructions, when executed by the one or more processors, cause the one or more processors to:

[0350] The first motor and the second motor of the corresponding wheel assembly are controlled to make the wheel of the corresponding wheel assembly rotate simultaneously about the first axis and the second axis.

[0351] Clause 28. A mobile healthcare platform pursuant to any one of Clauses 21 to 27, wherein:

[0352] The one or more wheel assemblies include at least two wheel assemblies; and

[0353] The stored instructions, when executed by the one or more processors, cause the one or more processors to:

[0354] The operation of two or more wheel assemblies is coordinated to achieve the requested movement of the rigid base.

[0355] Clause 29. The mobile healthcare platform pursuant to any one of Clauses 16 to 28 further includes:

[0356] A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0357] Clause 30. A mobile healthcare platform, comprising:

[0358] Rigid base; and

[0359] One or more wheel assemblies, said one or more wheel assemblies being coupled to a first side of the rigid base and supporting the rigid base during movement of the mobile medical platform, wherein a respective wheel assembly of said one or more wheel assemblies includes:

[0360] wheel;

[0361] A first motor, the first motor being positioned to rotate the wheel;

[0362] A first spring, the first spring being positioned to apply a downward force on the wheel; and

[0363] A second spring is positioned to inhibit relative movement between the wheel and the rigid base.

[0364] Clause 31. The mobile healthcare platform as described in Clause 30, wherein:

[0365] The second spring is located below the first spring;

[0366] The second spring is located above the wheel; and

[0367] The spring constant of the first spring is greater than the spring constant of the second spring.

[0368] Clause 32. The mobile healthcare platform described in Clause 30 or 31, wherein:

[0369] The first motor is positioned to rotate the wheel about a first axis, which is substantially perpendicular to a plane corresponding to the first side of the rigid base; and

[0370] The respective wheel assembly in one or more wheel assemblies further includes a second motor positioned to roll the wheel about a second axis substantially parallel to the plane corresponding to the first side of the rigid base.

[0371] Clause 33. The mobile healthcare platform as described in Clause 32, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0372] Clause 34. The mobile healthcare platform described in Clause 32 or 33 also includes:

[0373] One or more processors; and

[0374] The memory stores instructions that, when executed by the one or more processors, cause at least one of the first motor or the second motor to move the wheel according to one or more inputs.

[0375] Clause 35. The mobile medical platform according to Clause 34, wherein the one or more wheel assemblies include at least two wheel assemblies, and the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motor of one or more of the at least two wheel assemblies according to a predetermined automatic braking criterion being met, so that the corresponding wheel steering of the at least two wheel assemblies forms a predetermined braking configuration.

[0376] Clause 36. The mobile medical platform according to Clause 35, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

[0377] Clause 37. The mobile healthcare platform described in Clause 35 or 36, wherein:

[0378] The one or more wheel assemblies include at least two wheel assemblies; and

[0379] The stored instructions, when executed by the one or more processors, cause the one or more processors to:

[0380] The at least two wheel assemblies are triggered to align the respective wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met; and

[0381] The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

[0382] Clause 38. The mobile healthcare platform as described in Clause 37, wherein the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0383] Clause 39. A mobile healthcare platform pursuant to any one of Clauses 34 to 38, wherein the stored instructions, when executed by said one or more processors, cause said one or more processors to:

[0384] Receive one or more control parameters corresponding to user input from one or more input devices communicating with the one or more processors; and

[0385] The corresponding first motor and the corresponding second motor of the one or more wheel assemblies are controlled to move the corresponding wheel according to the one or more control parameters.

[0386] Clause 40. The mobile healthcare platform according to Clause 39, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the first motor and the second motor of the respective wheel assembly to simultaneously cause the wheel of the respective wheel assembly to turn and roll.

[0387] Clause 41. A mobile medical platform according to any one of Clauses 34 to 40, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel assemblies to achieve the requested movement of the rigid base.

[0388] Clause 42. The mobile healthcare platform pursuant to any one of Clauses 30 to 41 further includes:

[0389] A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0390] Clause 43. A mobile healthcare platform, comprising:

[0391] Rigid base; and

[0392] At least four wheel assemblies are coupled to and support the rigid base, and each wheel assembly of the at least four wheel assemblies includes:

[0393] Corresponding wheel; and

[0394] A corresponding first motor, the corresponding first motor being positioned to turn the corresponding wheel; and

[0395] One or more processors; and

[0396] A memory storing instructions that, when executed by the one or more processors, cause the respective wheels of the at least four wheel assemblies to turn such that:

[0397] The corresponding wheels of the at least four wheel assemblies are aligned in a common direction at the first moment; and

[0398] The corresponding wheels of the at least four wheel assemblies are arranged in a preset braking configuration at a second time, different from the first time, so that the rigid base is fixed.

[0399] Clause 44. The mobile healthcare platform according to Clause 43, wherein the respective wheels of the at least four wheel assemblies are guided to a common point when in the preset braking configuration.

[0400] Clause 45. The mobile healthcare platform pursuant to Clause 44, wherein the common point is the center of mass of the at least four wheel components.

[0401] Clause 46. A mobile healthcare platform pursuant to any one of Clauses 43 to 45, wherein:

[0402] The corresponding first motor is positioned to steer the wheel about a first axis, the first axis being substantially perpendicular to a plane corresponding to a first side of the rigid base; and

[0403] The respective wheel assembly of the at least four wheel assemblies further includes a respective second motor, the respective second motor being positioned to cause the respective wheel to roll about a second axis, the second axis being substantially parallel to the plane corresponding to the first side of the rigid base.

[0404] Clause 47. The mobile healthcare platform as described in Clause 46, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0405] Clause 48. A mobile medical platform according to Clause 46 or 47, wherein the stored instructions, when executed by the one or more processors, cause at least one of the respective first motor or the respective second motor to move the respective wheel according to one or more inputs.

[0406] Clause 49. A mobile healthcare platform pursuant to any one of Clauses 46 to 48, wherein the stored instructions, when executed by said one or more processors, cause said one or more processors to:

[0407] Receive one or more control parameters from one or more input devices communicating with the one or more processors; and

[0408] The corresponding first motor and the corresponding second motor of the one or more wheel assemblies are controlled to move the corresponding wheel according to the one or more control parameters.

[0409] Clause 50. The mobile healthcare platform according to Clause 49, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the respective first motor and the respective second motor of the respective wheel assembly to simultaneously cause the respective wheel of the respective wheel assembly to turn and roll.

[0410] Clause 51. The mobile medical platform according to any one of Clauses 43 to 50, wherein the respective wheel assembly of the at least four wheel assemblies further includes a respective first spring positioned to apply a downward force on the respective wheel.

[0411] Clause 52. The mobile medical platform according to any one of Clauses 43 to 51, wherein a respective wheel assembly of the at least four wheel assemblies further comprises a respective second spring positioned to inhibit relative movement between the respective wheel and the rigid base.

[0412] Clause 53. The mobile healthcare platform according to any one of Clauses 43 to 52, wherein the respective wheel assembly of said at least four wheel assemblies further comprises:

[0413] The corresponding first spring; and

[0414] A corresponding second spring is located below the corresponding first spring, wherein the corresponding second spring is located above the corresponding wheel, and the spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

[0415] Clause 54. A mobile medical platform according to any one of Clauses 43 to 53, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to trigger a corresponding first motor of one or more of the at least four wheel assemblies based on a predetermined automatic braking criterion being met, so that the corresponding wheel of the at least four wheel assemblies is turned to form the predetermined braking configuration.

[0416] Clause 55. A mobile medical platform according to any one of Clauses 43 to 54, wherein the preset braking configuration includes a second axis of adjacent wheels of the four wheel assemblies arranged at different angles.

[0417] Clause 56. A mobile medical platform pursuant to any one of Clauses 43 to 55, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel assemblies to achieve the requested movement of the rigid base.

[0418] Clause 57. A mobile healthcare platform pursuant to any one of Clauses 43 to 56, wherein:

[0419] According to the determination that the first criterion is met, the corresponding wheels of the at least four wheel assemblies are aligned in a common direction; and

[0420] If the first criterion is determined not to be met, the corresponding wheels of the at least four wheel assemblies are arranged in a preset braking configuration.

[0421] Clause 58. The mobile healthcare platform as described in Clause 57, wherein the first criterion includes the requirement to continuously maintain input of a first preset type in order to satisfy the first criterion.

[0422] Clause 59. The mobile medical platform according to any one of Clauses 43 to 58 further includes a robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

[0423] Clause 60. A method comprising:

[0424] At the mobile healthcare platform pursuant to any one of clauses 1 to 59:

[0425] Receive user input from the mobile medical platform; and

[0426] Moving at least one wheel of the one or more wheel assemblies includes any of the following:

[0427] Activate the first motor to orient the wheel in the direction corresponding to the user input; and

[0428] Start the second motor to make the wheel roll.

[0429] Clause 61. The method according to Clause 60, wherein the second motor is activated after the wheel is oriented in the corresponding direction, and the wheel is rolled by the second motor while the orientation of the wheel is maintained in the corresponding direction.

[0430] Clause 62. The method according to Clause 61, wherein the first motor and the second motor start simultaneously.

[0431] Clause 63. The method according to any one of Clauses 60 to 62, wherein:

[0432] Activating the first motor to orient the wheel in the corresponding direction includes turning the wheel about a first axis via the first motor, the first axis being substantially perpendicular to the plane corresponding to the first side of the rigid base, and

[0433] Activating the second motor to make the wheel roll includes providing power to the wheel via the second motor to roll about a second axis, the second axis being substantially parallel to the plane corresponding to the first side of the rigid base.

[0434] Clause 64. The method according to Clause 63, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

[0435] Clause 65. The method according to any one of Clauses 60 to 64, wherein the wheel assembly further comprises a first spring positioned to apply a downward force on the wheel.

[0436] Clause 66. The method according to any one of Clauses 60 to 65, wherein the wheel assembly further comprises a second spring positioned to inhibit relative movement between the wheel and the rigid base.

[0437] Clause 67. The method according to any one of Clauses 60 to 66, wherein:

[0438] The wheel assembly also includes a first spring and a second spring;

[0439] The second spring is located above the wheel and below the first spring; and

[0440] The spring constant of the first spring is greater than the spring constant of the second spring.

[0441] Clause 68. The method according to any one of Clauses 60 to 67, wherein the one or more wheel assemblies comprise at least two wheel assemblies, the method further comprising:

[0442] Upon determination that a first criterion is met, at least two of the one or more wheel assemblies are triggered to align the respective wheels of the at least two wheel assemblies in a common direction; and

[0443] If the first criterion is determined not to be met, the corresponding first motor of one or more of the at least two wheel assemblies is triggered to cause the corresponding wheel of the at least two wheel assemblies to turn to form a preset braking configuration.

[0444] Clause 69. The method described pursuant to Clause 68, wherein:

[0445] The one or more wheel components include four wheel components; and

[0446] Triggering a corresponding first motor of one or more of the at least two wheel assemblies to cause the corresponding wheel of the at least two wheel assemblies to turn to form a preset braking configuration includes: rotating the corresponding wheel about the axis of an adjacent wheel of the four wheel assemblies by the corresponding first motor, such that the axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

[0447] Clause 70. The method according to Clause 68 or 69, wherein the first criterion includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first criterion.

[0448] Clause 71. The method according to any one of Clauses 60 to 70, wherein the user input of the mobile healthcare platform is received from one or more input devices.

[0449] Clause 72. The method according to any one of Clauses 60 to 71 further includes:

[0450] The operation of two or more wheel assemblies is coordinated to achieve a requested movement of the rigid base, the requested movement of the rigid base corresponding to the user input.

[0451] Clause 73. The method according to any one of Clauses 60 to 72, wherein the mobile medical platform further comprises a robotic surgical system coupled to the rigid base, the robotic surgical system comprising a table and one or more robotic arms, the method further comprising moving the one or more robotic arms relative to the table.

[0452] Clause 74. A method comprising:

[0453] Utilizing a mobile healthcare platform according to any one of clauses 1 to 59, wherein the mobile healthcare platform includes at least two wheel components for:

[0454] Receives input from one or more input devices to move the mobile medical platform; and generates one or more control commands for controlling the respective first motor and respective second motor of the at least two wheel assemblies, including:

[0455] Based on the determination that the input meets a first criterion, the at least two wheel assemblies are triggered to align the corresponding wheels of the at least two wheel assemblies in a common direction; and

[0456] Based on the determination that the input meets a second criterion different from the first criterion, the at least two wheel assemblies are triggered to place the corresponding wheels of the at least two wheel assemblies into a preset braking configuration.

[0457] Clause 75. The method according to Clause 74, wherein triggering the at least two wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on determining that the input satisfies a first criterion further comprises:

[0458] Activate the corresponding first motor to align the corresponding wheels of the at least two wheel assemblies in a common direction; and

[0459] The corresponding second motor is activated to make the corresponding wheel roll, wherein the first motor and the second motor are activated simultaneously.

[0460] Clause 76. The method according to Clause 74 or 75, wherein triggering the at least two wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on determining that the input satisfies a first criterion further comprises:

[0461] Activate the corresponding first motor to align the corresponding wheels of the at least two wheel assemblies in a common direction; and

[0462] After the corresponding wheel is held in the corresponding direction and while the orientation of the corresponding wheel is held in the corresponding direction, the corresponding second motor is activated to make the corresponding wheel roll.

[0463] Clause 77. The method described pursuant to Clause 76, wherein:

[0464] Activating the respective first motor to align the respective wheels of the at least two wheel assemblies in a common direction includes turning the respective wheel about a respective first axis via the respective first motor, the respective first axis being substantially perpendicular to the plane corresponding to the first side of the rigid base, and

[0465] Activating the corresponding second motor to make the corresponding wheel roll includes providing power to the wheel via the corresponding second motor to roll about a corresponding second axis, which is substantially parallel to the plane corresponding to the first side of the rigid base.

[0466] Clause 78. The method according to Clause 77, wherein the respective first axis and the respective second axis of the respective wheels of the at least two wheel assemblies are aligned to substantially eliminate the caster angle of the respective first axis.

[0467] Clause 79. The method described pursuant to Clause 77 or 78, wherein:

[0468] The one or more wheel components include at least four wheel components; and

[0469] Triggering the at least four wheel assemblies to place the corresponding wheels of the at least four wheel assemblies in the preset braking configuration includes: rotating the corresponding wheel about a first axis of an adjacent wheel of the four wheel assemblies by the corresponding first motor, such that the second axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

[0470] Clause 80. The method according to any one of Clauses 74 to 79, wherein a respective wheel assembly of the at least two wheel assemblies further comprises a respective first spring, the respective first spring being positioned to apply a downward force on the respective wheel.

[0471] Clause 81. The method according to any one of Clauses 74 to 80, wherein a respective wheel assembly of the at least two wheel assemblies further comprises a respective second spring positioned to inhibit relative movement between the respective wheel and the rigid base.

[0472] Clause 82. The method according to any one of Clauses 74 to 81, wherein:

[0473] The respective wheel assembly of the at least two wheel assemblies further includes a respective first spring and a respective second spring;

[0474] The corresponding second spring is located above the corresponding wheel and below the corresponding first spring; and

[0475] The spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

[0476] Clause 83. The method according to any one of Clauses 74 to 82, wherein the first criterion includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first criterion.

[0477] Clause 84. The method according to any one of Clauses 74 to 83 further includes:

[0478] The operation of the at least two wheel assemblies is coordinated to achieve the requested movement of the rigid base, the requested movement of the rigid base corresponding to the input.

[0479] Clause 85. The method according to any one of Clauses 74 to 84, wherein the mobile medical platform further comprises a robotic surgical system coupled to the rigid base, the robotic surgical system comprising a table and one or more robotic arms, the method further comprising moving the one or more robotic arms relative to the table.

Claims

1. A mobile healthcare platform, comprising: Rigid base; and At least two wheel assemblies are coupled to a first side of the rigid base to support and move the rigid base in a physical environment, wherein a respective wheel assembly in one or more of the at least two wheel sets includes: wheel; A first motor, configured to steer the wheel, and A second motor, configured to make the wheel roll. One or more processors; and The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motors of the one or more wheel assemblies according to a predetermined automatic braking criterion being met, so that the corresponding wheel steering of the at least two wheel assemblies forms a predetermined braking configuration.

2. The mobile medical platform according to claim 1, wherein: The first motor is configured to turn the wheel about a first axis, the first axis being substantially perpendicular to a plane corresponding to the first side of the rigid base, and The second motor is configured to cause the wheel to roll about a second axis, which is substantially parallel to the plane corresponding to the first side of the rigid base.

3. The mobile medical platform of claim 2, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

4. The mobile medical platform of claim 1, wherein the corresponding wheel assembly further comprises a first spring, the first spring being positioned to apply a downward force on the wheel.

5. The mobile medical platform of claim 1, wherein the corresponding wheel assembly further comprises a second spring, the second spring being positioned to inhibit relative movement between the wheel and the rigid base.

6. The mobile medical platform according to claim 1, wherein the corresponding wheel component further comprises: First spring; and A second spring is located below the first spring, wherein the second spring is located above the wheel, and the first spring has a spring constant greater than the spring constant of the second spring.

7. The mobile medical platform of claim 1, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

8. The mobile healthcare platform of claim 1, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to: The at least two wheel assemblies are triggered to align the corresponding wheels of the at least two wheel assemblies in a common direction based on the determination that a first criterion is met; and The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

9. The mobile healthcare platform according to claim 8, wherein the first standard includes the following requirement: continuously maintaining input of a first preset type in order to satisfy the first standard.

10. The mobile healthcare platform of claim 1, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to: Receive one or more control parameters corresponding to user input from one or more input devices communicating with the one or more processors; and Control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheels according to the one or more control parameters.

11. The mobile medical platform of claim 10, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters comprises: The first motor and the second motor of the corresponding wheel assembly are controlled to simultaneously turn and roll the wheel of the corresponding wheel assembly.

12. The mobile healthcare platform of claim 1, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to: The operation of two or more wheel assemblies is coordinated to achieve the requested movement of the rigid base.

13. The mobile medical platform according to claim 1, further comprising: A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

14. A mobile healthcare platform, comprising: Rigid base; and At least two wheel assemblies are coupled to a first side of the rigid base and support the rigid base, wherein a respective wheel assembly in one or more of the at least two wheel sets includes: Wheels, said wheels being configured to rotate about a first axis and a second axis, the second axis being different from the first axis; and A first motor is positioned to rotate the wheel about a corresponding one of a first axis and a second axis, wherein the first axis is aligned with the second axis, resulting in a negligible caster angle for the wheel. One or more processors; and The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motors of the one or more wheel assemblies according to a predetermined automatic braking criterion being met, so that the corresponding wheel steering of the at least two wheel assemblies forms a predetermined braking configuration.

15. The mobile medical platform according to claim 14, wherein: The first motor is positioned to rotate the wheel about the first axis; The respective wheel assembly in one or more wheel assemblies further includes a second motor, the second motor being positioned to rotate the wheel about the second axis; and The second axis is substantially parallel to the plane corresponding to the first side of the rigid base.

16. The mobile medical platform of claim 14, wherein the respective wheel assembly of the one or more wheel assemblies further comprises a first spring positioned to apply a downward force on the wheel.

17. The mobile medical platform of claim 14, wherein the respective wheel assembly of the one or more wheel assemblies further comprises a second spring positioned to inhibit relative movement between the wheel and the rigid base.

18. The mobile healthcare platform of claim 14, wherein the respective wheel assembly in the one or more wheel assemblies further comprises: First spring; and A second spring is located below the first spring, wherein the first spring has a spring constant greater than the spring constant of the second spring.

19. The mobile medical platform of claim 14, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

20. The mobile medical platform of claim 14, wherein the corresponding wheel assembly further comprises a second motor, and the stored instructions, when executed by the one or more processors, cause the one or more processors to: Receive one or more control parameters corresponding to a user from one or more input devices communicating with the one or more processors; and Control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheels of the one or more wheel assemblies according to the one or more control parameters.

21. The mobile medical platform according to claim 14, wherein: The one or more wheel assemblies include at least two wheel assemblies; and The stored instructions, when executed by the one or more processors, cause the one or more processors to: The at least two wheel assemblies are triggered to align the respective wheels of the at least two wheel assemblies in a common direction, based on the determination that a first criterion is met. as well as The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

22. The mobile healthcare platform of claim 21, wherein the first standard includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first standard.

23. The mobile medical platform of claim 14, wherein the corresponding wheel assembly further comprises a second motor, and the stored instructions, when executed by the one or more processors, cause the one or more processors to: The first motor and the second motor of the corresponding wheel assembly are controlled to make the wheel of the corresponding wheel assembly rotate simultaneously about the first axis and the second axis.

24. The mobile medical platform according to claim 14, wherein: The one or more wheel assemblies include at least two wheel assemblies; and The stored instructions, when executed by the one or more processors, cause the one or more processors to: The operation of two or more wheel assemblies is coordinated to achieve the requested movement of the rigid base.

25. The mobile medical platform according to claim 14, further comprising: A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

26. A mobile healthcare platform, comprising: Rigid base; and At least two wheel assemblies, the at least two wheel assemblies being coupled to a first side of the rigid base and supporting the rigid base during movement of the mobile medical platform, wherein a respective wheel assembly in one or more of the at least two wheel sets includes: wheel; A first motor, the first motor being positioned to rotate the wheel; A first spring, the first spring being positioned to apply a downward force on the wheel; and A second spring, positioned to inhibit relative movement between the wheel and the rigid base. One or more processors; and The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to trigger the corresponding first motors of the one or more wheel assemblies according to a predetermined automatic braking criterion being met, so that the corresponding wheel steering of the at least two wheel assemblies forms a predetermined braking configuration.

27. The mobile medical platform according to claim 26, wherein: The second spring is located below the first spring; The second spring is located above the wheel; and The first spring has a spring constant greater than that of the second spring.

28. The mobile medical platform according to claim 26, wherein: The first motor is positioned to rotate the wheel about a first axis, which is substantially perpendicular to a plane corresponding to the first side of the rigid base; and The respective wheel assembly in one or more wheel assemblies further includes a second motor positioned to roll the wheel about a second axis substantially parallel to the plane corresponding to the first side of the rigid base.

29. The mobile medical platform of claim 28, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

30. The mobile medical platform of claim 26, wherein the one or more wheel assemblies comprise four wheel assemblies, and the preset braking configuration comprises second axes of adjacent wheels of the four wheel assemblies arranged at different angles.

31. The mobile medical platform according to claim 26, wherein: The one or more wheel assemblies include at least two wheel assemblies; and The stored instructions, when executed by the one or more processors, cause the one or more processors to: The at least two wheel assemblies are triggered to align the respective wheels of the at least two wheel assemblies in a common direction, based on the determination that a first criterion is met. as well as The at least two wheel assemblies are triggered to place the respective wheels of the at least two wheel assemblies into a preset braking configuration based on the determination that the first criterion has not been met.

32. The mobile healthcare platform according to claim 31, wherein the first standard includes the following requirement: continuously maintaining input of a first preset type in order to satisfy the first standard.

33. The mobile healthcare platform of claim 26, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to: Receive one or more control parameters corresponding to user input from one or more input devices communicating with the one or more processors; and Control the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheels according to the one or more control parameters.

34. The mobile medical platform of claim 33, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the first motor and the second motor of the respective wheel assembly to simultaneously cause the wheel of the respective wheel assembly to turn and roll.

35. The mobile medical platform of claim 26, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel components to achieve the requested movement of the rigid base.

36. The mobile medical platform according to claim 26, further comprising: A robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

37. A mobile healthcare platform, comprising: Rigid base; and At least four wheel assemblies are coupled to and support the rigid base, and each wheel assembly of the at least four wheel assemblies includes: Corresponding wheel; and A corresponding first motor, the corresponding first motor being positioned to turn the corresponding wheel; and One or more processors; and A memory storing instructions that, when executed by the one or more processors, cause the respective wheels of the at least four wheel assemblies to turn such that: The corresponding wheels of the at least four wheel assemblies are aligned in a common direction at the first moment; and The corresponding wheels of the at least four wheel assemblies are arranged in a preset braking configuration at a second time, different from the first time, so that the rigid base is fixed. When the stored instructions are executed by the one or more processors, the one or more processors trigger the corresponding first motor of one or more of the at least four wheel assemblies according to the determination that a preset automatic braking criterion is met, so that the corresponding wheel of the at least four wheel assemblies turns to form the preset braking configuration.

38. The mobile medical platform of claim 37, wherein the respective wheels of the at least four wheel assemblies are guided to a common point when in the preset braking configuration.

39. The mobile healthcare platform of claim 38, wherein the common point is the centroid of the at least four wheel assemblies.

40. The mobile medical platform according to claim 37, wherein: The corresponding first motor is positioned to turn the corresponding wheel about a first axis, the first axis being substantially perpendicular to a plane corresponding to a first side of the rigid base; and The respective wheel assembly of the at least four wheel assemblies further includes a respective second motor, the respective second motor being positioned to cause the respective wheel to roll about a second axis, the second axis being substantially parallel to the plane corresponding to the first side of the rigid base.

41. The mobile medical platform of claim 40, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

42. The mobile medical platform of claim 40, wherein the stored instructions, when executed by the one or more processors, cause at least one of the corresponding first motor or the corresponding second motor to move the corresponding wheel according to one or more inputs.

43. The mobile healthcare platform of claim 40, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to: Receive one or more control parameters from one or more input devices communicating with the one or more processors; and The corresponding first motor and the corresponding second motor of the one or more wheel assemblies are controlled to move the corresponding wheel according to the one or more control parameters.

44. The mobile medical platform of claim 43, wherein controlling the respective first motor and the respective second motor of the one or more wheel assemblies to move the respective wheel according to the one or more control parameters includes controlling the respective first motor and the respective second motor of the respective wheel assembly to simultaneously cause the respective wheel of the respective wheel assembly to turn and roll.

45. The mobile medical platform of claim 37, wherein the respective wheel assembly of the at least four wheel assemblies further comprises a respective first spring, the respective first spring being positioned to apply a downward force on the respective wheel.

46. ​​The mobile medical platform of claim 37, wherein a respective wheel assembly of the at least four wheel assemblies further comprises a respective second spring, the respective second spring being positioned to inhibit relative movement between the respective wheel and the rigid base.

47. The mobile healthcare platform of claim 37, wherein the respective wheel assembly of the at least four wheel assemblies further comprises: The corresponding first spring; and A corresponding second spring is located below the corresponding first spring, wherein the corresponding second spring is located above the corresponding wheel, and the spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

48. The mobile medical platform of claim 37, wherein the preset braking configuration includes the second axis of adjacent wheels of the four wheel assemblies arranged at different angles.

49. The mobile medical platform of claim 37, wherein the stored instructions, when executed by the one or more processors, cause the one or more processors to coordinate the operation of two or more wheel components to achieve the requested movement of the rigid base.

50. The mobile healthcare platform according to claim 37, wherein: According to the determination that the first criterion is met, the corresponding wheels of the at least four wheel assemblies are aligned in a common direction; and If the first criterion is determined not to be met, the corresponding wheels of the at least four wheel assemblies are arranged in a preset braking configuration.

51. The mobile healthcare platform of claim 50, wherein the first standard includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first standard.

52. The mobile medical platform of claim 37 further includes a robotic surgical system coupled to the rigid base, wherein the robotic surgical system includes a table and one or more robotic arms configured to move relative to the table.

53. A method comprising: At the mobile medical platform according to claim 1: Receive user input from the mobile medical platform; as well as Moving at least one wheel of the one or more wheel assemblies includes any of the following: The first motor is activated to orient the wheel in the direction corresponding to the user input; as well as Start the second motor to make the wheel roll; The one or more wheel assemblies include at least two wheel assemblies, and the method further includes: triggering a corresponding first motor of one or more of the at least two wheel assemblies based on the determination that a preset automatic braking criterion is met, so that the corresponding wheel of the at least two wheel assemblies is turned to form a preset braking configuration.

54. The method of claim 53, wherein the second motor is activated after the wheel is oriented in the corresponding direction, and the wheel is rolled by the second motor while the wheel's orientation is maintained in the corresponding direction.

55. The method of claim 54, wherein the first motor and the second motor are started simultaneously.

56. The method according to claim 53, wherein: Activating the first motor to orient the wheel in the corresponding direction includes turning the wheel about a first axis via the first motor, the first axis being substantially perpendicular to the plane corresponding to the first side of the rigid base, and Activating the second motor to make the wheel roll includes providing power to the wheel via the second motor to roll about a second axis, the second axis being substantially parallel to the plane corresponding to the first side of the rigid base.

57. The method of claim 56, wherein the first axis and the second axis are aligned to substantially eliminate the backslope angle of the first axis.

58. The method of claim 53, wherein the wheel assembly further comprises a first spring positioned to apply a downward force on the wheel.

59. The method of claim 53, wherein the wheel assembly further comprises a second spring positioned to inhibit relative movement between the wheel and the rigid base.

60. The method of claim 53, wherein: The wheel assembly also includes a first spring and a second spring; The second spring is located above the wheel and below the first spring; and The first spring has a spring constant greater than that of the second spring.

61. The method of claim 53, wherein the method further comprises: If a first criterion is met, at least two of the one or more wheel assemblies are triggered to align the respective wheels of the at least two wheel assemblies in a common direction; as well as If the first criterion is determined not to be met, the corresponding first motor of one or more of the at least two wheel assemblies is triggered to cause the corresponding wheel of the at least two wheel assemblies to turn to form a preset braking configuration.

62. The method according to claim 61, wherein: The one or more wheel components include four wheel components; and Triggering a corresponding first motor of one or more of the at least two wheel assemblies to cause the corresponding wheel of the at least two wheel assemblies to turn to form a preset braking configuration includes: rotating the corresponding wheel about the axis of an adjacent wheel of the four wheel assemblies by the corresponding first motor, such that the axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

63. The method of claim 61, wherein the first criterion includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first criterion.

64. The method of claim 53, wherein the user input of the mobile medical platform is received from one or more input devices.

65. The method of claim 53, further comprising: The operation of two or more wheel assemblies is coordinated to achieve a requested movement of the rigid base, the requested movement of the rigid base corresponding to the user input.

66. The method of claim 53, wherein the mobile medical platform further comprises a robotic surgical system coupled to the rigid base, the robotic surgical system comprising a table and one or more robotic arms, the method further comprising moving the one or more robotic arms relative to the table.

67. A method comprising: Utilizing the mobile healthcare platform according to claim 1, wherein the mobile healthcare platform includes at least two wheel components for: Receive input from one or more input devices to the mobile healthcare platform; as well as Generate one or more control commands for controlling the respective first motor and the respective second motor of the at least two wheel assemblies, including: Based on the determination that the input meets the first criterion, the at least two wheel assemblies are triggered to align the corresponding wheels of the at least two wheel assemblies in a common direction; as well as Based on the determination that the input meets a second criterion different from the first criterion, the at least two wheel assemblies are triggered to place the corresponding wheels of the at least two wheel assemblies into a preset braking configuration.

68. The method of claim 67, wherein triggering the at least two wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on determining that the input satisfies a first criterion further comprises: The corresponding first motor is activated to align the corresponding wheels of the at least two wheel assemblies in a common direction; as well as The corresponding second motor is activated to make the corresponding wheel roll, wherein the first motor and the second motor are activated simultaneously.

69. The method of claim 67, wherein triggering the at least two wheel assemblies to align the respective wheels of the at least two wheel assemblies in a common direction based on determining that the input satisfies a first criterion further comprises: The corresponding first motor is activated to align the corresponding wheels of the at least two wheel assemblies in a common direction; as well as After the corresponding wheel is held in the corresponding direction and while the orientation of the corresponding wheel is held in the corresponding direction, the corresponding second motor is activated to make the corresponding wheel roll.

70. The method according to claim 69, wherein: Activating the respective first motor to align the respective wheels of the at least two wheel assemblies in a common direction includes turning the respective wheel about a respective first axis via the respective first motor, the respective first axis being substantially perpendicular to the plane corresponding to the first side of the rigid base, and Activating the corresponding second motor to make the corresponding wheel roll includes providing power to the wheel via the corresponding second motor to roll about a corresponding second axis, which is substantially parallel to the plane corresponding to the first side of the rigid base.

71. The method of claim 70, wherein the respective first axis and the respective second axis of the respective wheels of the at least two wheel assemblies are aligned to substantially eliminate the caster angle of the respective first axis.

72. The method according to claim 70, wherein: The one or more wheel assemblies include at least four wheel assemblies; and Triggering the at least four wheel assemblies to place the corresponding wheels of the at least four wheel assemblies in the preset braking configuration includes: rotating the corresponding wheel about a first axis of an adjacent wheel of the four wheel assemblies by the corresponding first motor, such that the second axes of the adjacent wheels of the four wheel assemblies are arranged at different angles.

73. The method of claim 67, wherein a respective wheel assembly of the at least two wheel assemblies further comprises a respective first spring, the respective first spring being positioned to apply a downward force on the respective wheel.

74. The method of claim 67, wherein a respective wheel assembly of the at least two wheel assemblies further comprises a respective second spring positioned to inhibit relative movement between the respective wheel and the rigid base.

75. The method according to claim 67, wherein: The respective wheel assembly of the at least two wheel assemblies further includes a respective first spring and a respective second spring; The corresponding second spring is located above the corresponding wheel and below the corresponding first spring; and The spring constant of the corresponding first spring is greater than the spring constant of the corresponding second spring.

76. The method of claim 67, wherein the first criterion includes the requirement of continuously maintaining input of a first preset type in order to satisfy the first criterion.

77. The method of claim 67, further comprising: The operation of the at least two wheel assemblies is coordinated to achieve a requested movement of the rigid base, the requested movement of the rigid base corresponding to the input.

78. The method of claim 67, wherein the mobile medical platform further comprises a robotic surgical system coupled to the rigid base, the robotic surgical system comprising a table and one or more robotic arms, the method further comprising moving the one or more robotic arms relative to the table.

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